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0000000000000000000000000000000000000000..bd132fc68560df458f4812507a3fc5fc5a766110 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:346c167b0bbd97d59836986676b36ae44643ebd863ced5a820f083b941409946 +size 114176 diff --git a/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f05d1ed801933baeee7ab496fe4b569afd23babe --- /dev/null +++ b/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c1a83943fc41f6ae3736482202d6efc802769a86821bde7995eb64fa692d619 +size 113998 diff --git a/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5bbfad92d3e88255df916760c194e6d2e2c96fe4 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e02677693eeec054c34e68cb8f7d55cd750cf6602d7a9add7e5e971d85bbc3e +size 307418 diff --git a/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5056f2145f8e3561dac508eec119eb0a5b6425eb --- /dev/null +++ b/fridge_m_0.7_pd/chunk_016/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:910b18665bc88950aa843750da34373f86ff94543439e7ce5850bdd2926a014d +size 678482 diff --git a/fridge_m_0.7_pd/chunk_016/running_log.log b/fridge_m_0.7_pd/chunk_016/running_log.log index 571a4bbfdf660bac225a039093ac32656bee171e..92e53a73145adac11355e116c2d3ef249a3c5eb9 100644 --- a/fridge_m_0.7_pd/chunk_016/running_log.log +++ b/fridge_m_0.7_pd/chunk_016/running_log.log @@ -5255,3 +5255,1059 @@ 05/12 15:12:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] 05/12 15:12:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] 05/12 15:12:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:12:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.588s, found feasible grasp: False [grasp_sample.py: 500] +05/12 15:12:16 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 15:12:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:12:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:12:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:12:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:12:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:12:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:12:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:12:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:12:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:12:17 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 15:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092068m [env.py: 870] +05/12 15:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:12:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:12:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80543632 0.61913464 0.09206826] yaw=-139.8deg [env.py: 1019] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8697058 0.53916222 0.09206826] yaw=-180.2deg [env.py: 1019] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:12:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=367.1ms, total=367.1ms [env.py: 1075] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.619, 0.092) [env.py: 1079] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.8 deg [env.py: 1082] +05/12 15:12:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/12 15:12:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:12:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:12:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:12:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:12:18 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 15:12:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 15:12:18 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 15:12:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:12:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:12:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.118s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:12:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 86.698[deg] [grasp_sample.py: 539] +05/12 15:12:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:12:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:12:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:12:20 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 15:12:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:12:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:12:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:12:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:13:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:14 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:13:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:13:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:13:21 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 15:13:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:13:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 15:13:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.798s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:13:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.028[m] 0.553[deg] [grasp_sample.py: 539] +05/12 15:13:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:13:22 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:13:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:13:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:13:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:13:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:13:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:13:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:13:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:13:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 14.38s (batch: 3.75s, save: 10.63s) [pipeline.py: 300] +05/12 15:13:37 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s: + episode_total: mean=214.15s, total=214.15s, count=1, min=214147.4ms, max=214147.4ms + sensor_polling: mean=456.8ms, total=137.03s, count=300, min=386.3ms, max=907.2ms + save_trajectories: mean=10.63s, total=10.63s, count=1, min=10631.4ms, max=10631.4ms + physics_step: mean=28.3ms, total=8.48s, count=300, min=19.4ms, max=40.3ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3745.3ms, max=3745.3ms + task_sampling: mean=524.9ms, total=524.9ms, count=1, min=524.9ms, max=524.9ms + task_specific_sample: mean=520.8ms, total=520.8ms, count=1, min=520.8ms, max=520.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=489.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:13:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:13:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:13:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:13:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:13:39 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 15:13:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:13:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034591m [env.py: 870] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:13:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06552807 1.1710771 0.03459123] yaw=-94.2deg [env.py: 1019] +05/12 15:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83491034 0.59755224 0.03459123] yaw=-169.0deg [env.py: 1019] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93483323 0.82430971 0.03459123] yaw=-188.6deg [env.py: 1019] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:13:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=631.0ms, total=631.1ms [env.py: 1075] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 1.171, 0.035) [env.py: 1079] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.2 deg [env.py: 1082] +05/12 15:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 15:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:13:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:13:40 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 15:13:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 15:13:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:13:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:13:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:13:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:13:42 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:13:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:13:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:13:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:13:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.639[m] 97.975[deg] [grasp_sample.py: 539] +05/12 15:13:45 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:13:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:13:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:13:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:13:47 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 15:13:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:13:47 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 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080619m [env.py: 870] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:13:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84588687 0.30995745 0.08061944] yaw=181.0deg [env.py: 1019] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08513081 1.24738316 0.08061944] yaw=-155.1deg [env.py: 1019] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:13:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.7ms, total=225.7ms [env.py: 1075] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.310, 0.081) [env.py: 1079] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.0 deg [env.py: 1082] +05/12 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:13:47 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 15:13:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/12 15:13:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:13:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:13:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:13:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:13:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.445[m] 85.478[deg] [grasp_sample.py: 539] +05/12 15:13:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:13:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:13:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:13:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:13:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:13:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:13:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:13:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:13:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 15:13:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:13:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:13:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 16.75s (batch: 4.53s, save: 12.21s) [pipeline.py: 300] +05/12 15:14:00 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.046s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:14:00 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.792[deg] [grasp_sample.py: 539] +05/12 15:14:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:14:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:14:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:14:00 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.14s: + episode_total: mean=135.44s, total=270.87s, count=2, min=77007.4ms, max=193863.5ms + sensor_polling: mean=445.1ms, total=189.61s, count=426, min=377.3ms, max=922.5ms + save_trajectories: mean=12.21s, total=12.21s, count=1, min=12212.7ms, max=12212.7ms + physics_step: mean=26.7ms, total=11.37s, count=426, min=21.5ms, max=59.8ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4533.5ms, max=4533.5ms + task_sampling: mean=568.9ms, total=1.14s, count=2, min=559.9ms, max=577.9ms + task_specific_sample: mean=564.5ms, total=1.13s, count=2, min=555.8ms, max=573.2ms + scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.9ms, max=3.1ms + mj_forward_sync: mean=549.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:14:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:14:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:14:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:14:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:14:02 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 15:14:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:14:02 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 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092126m [env.py: 870] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:14:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62542243 0.5980757 0.09212585] yaw=-205.5deg [env.py: 1019] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.60714932 0.57289462 0.09212585] yaw=-210.2deg [env.py: 1019] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:14:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.2ms, total=198.3ms [env.py: 1075] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.625, 0.598, 0.092) [env.py: 1079] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -205.5 deg [env.py: 1082] +05/12 15:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:14:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:14:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:14:02 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 15:14:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 15:14:02 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 15:14:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:14:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:14:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:14:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.489s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:14:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.720[m] 92.769[deg] [grasp_sample.py: 539] +05/12 15:14:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:14:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:14:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:14:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:14:08 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 15:14:08 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.13s: + episode_total: mean=160.50s, total=321.01s, count=2, min=153644.6ms, max=167362.0ms + sensor_polling: mean=429.4ms, total=252.47s, count=588, min=370.0ms, max=933.4ms + physics_step: mean=26.1ms, total=15.36s, count=588, min=17.4ms, max=97.9ms + task_sampling: mean=562.8ms, total=1.13s, count=2, min=521.3ms, max=604.3ms + task_specific_sample: mean=558.7ms, total=1.12s, count=2, min=517.4ms, max=599.9ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.1ms, max=2.5ms + mj_forward_sync: mean=520.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:14:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:14:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:14:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:14:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:14:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:14:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:14:10 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 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067969m [env.py: 870] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:14:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13504688 1.08776842 0.06796877] yaw=-157.6deg [env.py: 1019] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84411777 0.49235062 0.06796877] yaw=-195.4deg [env.py: 1019] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7874559 0.30576031 0.06796877] yaw=151.2deg [env.py: 1019] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:14:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.7ms, total=183.7ms [env.py: 1075] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.088, 0.068) [env.py: 1079] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg [env.py: 1082] +05/12 15:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:14:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:14:11 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 15:14:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 15:14:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:14:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:14:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:14:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.987s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:14:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 79.093[deg] [grasp_sample.py: 539] +05/12 15:14:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:14:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:14:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:14:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:14:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:14:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:14:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:14:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:14:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:15:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:15:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:15:20 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:15:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:15:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:15:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:15:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:15:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:15:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.52s (batch: 4.15s, save: 11.37s) [pipeline.py: 300] +05/12 15:15:36 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.03s: + episode_total: mean=100.89s, total=201.78s, count=2, min=3186.5ms, max=198588.6ms + sensor_polling: mean=434.5ms, total=130.34s, count=300, min=372.0ms, max=927.4ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11374.0ms, max=11374.0ms + physics_step: mean=27.0ms, total=8.09s, count=300, min=21.5ms, max=35.8ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4145.7ms, max=4145.7ms + task_sampling: mean=515.9ms, total=1.03s, count=2, min=407.7ms, max=624.0ms + task_specific_sample: mean=512.0ms, total=1.02s, count=2, min=403.5ms, max=620.6ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms + mj_forward_sync: mean=464.8us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:38 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:15:38 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:15:38 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes [pipeline.py: 1323] +05/12 15:15:38 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=4662.73s + House averages: + episode_total: mean=144.60s, total=2602.78s, count=18, min=3186.5ms, max=229179.8ms + sensor_polling: mean=432.1ms, total=1757.76s, count=4068, min=360.1ms, max=970.5ms + save_trajectories: mean=11.33s, total=113.33s, count=10, min=10920.4ms, max=12086.9ms + physics_step: mean=26.8ms, total=108.95s, count=4068, min=15.1ms, max=68.7ms + save_batch_prep: mean=4.43s, total=44.25s, count=10, min=3820.3ms, max=5055.6ms + task_sampling: mean=803.2ms, total=14.46s, count=18, min=407.7ms, max=5756.8ms + task_specific_sample: mean=529.3ms, total=9.53s, count=18, min=403.5ms, max=897.9ms + scene_load: mean=4.85s, total=4.85s, count=1, min=4849.9ms, max=4849.9ms + scene_env_create: mean=2.80s, total=2.80s, count=1, min=2800.3ms, max=2800.3ms + scene_compile: mean=1.81s, total=1.81s, count=1, min=1809.5ms, max=1809.5ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1387.7ms, max=1387.7ms + compile_xml_load: mean=297.0ms, total=297.0ms, count=1, min=297.0ms, max=297.0ms + scene_init: mean=170.0ms, total=170.0ms, count=1, min=170.0ms, max=170.0ms + scene_asset_install: mean=69.7ms, total=69.7ms, count=1, min=69.7ms, max=69.7ms + compile_aux_objects: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms + compile_aux_policy_objects: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms + asset_install_grasps: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + compile_robot_add: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=3.3ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + mj_forward_sync: mean=681.8us, total=12.3ms, count=18, min=0.4ms, max=4.4ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + 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 15:15:38 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 15:15:38 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=4662.73s + Worker averages: + episode_total: mean=144.60s, total=2602.78s, count=18, min=3186.5ms, max=229179.8ms + sensor_polling: mean=432.1ms, total=1757.76s, count=4068, min=360.1ms, max=970.5ms + save_trajectories: mean=11.33s, total=113.33s, count=10, min=10920.4ms, max=12086.9ms + physics_step: mean=26.8ms, total=108.95s, count=4068, min=15.1ms, max=68.7ms + save_batch_prep: mean=4.43s, total=44.25s, count=10, min=3820.3ms, max=5055.6ms + task_sampling: mean=803.2ms, total=14.46s, count=18, min=407.7ms, max=5756.8ms + task_specific_sample: mean=529.3ms, total=9.53s, count=18, min=403.5ms, max=897.9ms + scene_load: mean=4.85s, total=4.85s, count=1, min=4849.9ms, max=4849.9ms + scene_env_create: mean=2.80s, total=2.80s, count=1, min=2800.3ms, max=2800.3ms + scene_compile: mean=1.81s, total=1.81s, count=1, min=1809.5ms, max=1809.5ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1387.7ms, max=1387.7ms + compile_xml_load: mean=297.0ms, total=297.0ms, count=1, min=297.0ms, max=297.0ms + scene_init: mean=170.0ms, total=170.0ms, count=1, min=170.0ms, max=170.0ms + scene_asset_install: mean=69.7ms, total=69.7ms, count=1, min=69.7ms, max=69.7ms + compile_aux_objects: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms + compile_aux_policy_objects: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms + asset_install_grasps: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms + compile_robot_add: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=3.3ms + asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms + mj_forward_sync: mean=681.8us, total=12.3ms, count=18, min=0.4ms, max=4.4ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + 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 15:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:41 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 15:15:41 INFO: Success count: 10, Total count: 10 [pipeline.py: 1491] +05/12 15:15:41 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 15:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:15:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:15:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:15:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:15:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:15:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.860s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:15:45 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.350[deg] [grasp_sample.py: 539] +05/12 15:15:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:15:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:15:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:15:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:15:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:15:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:15:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:15:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:16:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:16:00 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.097[m] 0.404[deg] [grasp_sample.py: 539] +05/12 15:16:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:16:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:16:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:16:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:16:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:16:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:16:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:16:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:16:14 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 15:16:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:16:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:16:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.809s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:16:15 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.092[m] 0.443[deg] [grasp_sample.py: 539] +05/12 15:16:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:16:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.765s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:16:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.148[deg] [grasp_sample.py: 539] +05/12 15:16:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:16:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:16:17 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:16:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:16:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:16:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:16:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055706m [env.py: 870] +05/12 15:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73881197 0.62914064 0.05570642] yaw=-175.5deg [env.py: 1019] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63943194 0.54603411 0.05570642] yaw=-190.0deg [env.py: 1019] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92964903 0.2940481 0.05570642] yaw=177.7deg [env.py: 1019] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:16:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=267.7ms, total=267.7ms [env.py: 1075] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.629, 0.056) [env.py: 1079] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg [env.py: 1082] +05/12 15:16:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/12 15:16:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:16:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:16:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:16:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:16:19 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 15:16:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 15:16:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:16:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:16:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:16:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.793s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:16:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.503[m] 85.147[deg] [grasp_sample.py: 539] +05/12 15:16:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:16:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:16:21 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 15:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:26 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:16:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:16:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 15:16:30 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:16:52 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:16:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:16:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:16:54 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:16:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:16:54 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/12 15:17:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:17:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:17:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:17:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 12.49s (batch: 3.30s, save: 9.19s) [pipeline.py: 300] +05/12 15:17:07 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.44s: + episode_total: mean=103.22s, total=206.43s, count=2, min=6267.5ms, max=200165.5ms + sensor_polling: mean=433.6ms, total=110.58s, count=255, min=384.7ms, max=897.8ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9187.7ms, max=9187.7ms + physics_step: mean=24.8ms, total=6.32s, count=255, min=15.1ms, max=33.8ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3298.6ms, max=3298.6ms + task_sampling: mean=719.9ms, total=1.44s, count=2, min=498.7ms, max=941.1ms + task_specific_sample: mean=715.2ms, total=1.43s, count=2, min=494.3ms, max=936.1ms + scene_randomize: mean=2.8ms, total=5.6ms, count=2, min=2.2ms, max=3.4ms + mj_forward_sync: mean=537.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + 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 15:17:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:17:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:17:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.01s (batch: 4.09s, save: 10.93s) [pipeline.py: 300] +05/12 15:17:08 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.51s: + episode_total: mean=186.38s, total=186.38s, count=1, min=186381.2ms, max=186381.2ms + sensor_polling: mean=436.2ms, total=130.85s, count=300, min=372.9ms, max=978.2ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10925.1ms, max=10925.1ms + physics_step: mean=27.5ms, total=8.24s, count=300, min=21.6ms, max=60.5ms + save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4085.1ms, max=4085.1ms + task_sampling: mean=511.4ms, total=511.4ms, count=1, min=511.4ms, max=511.4ms + task_specific_sample: mean=507.5ms, total=507.5ms, count=1, min=507.5ms, max=507.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:17:09 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:17:09 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:17:09 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes [pipeline.py: 1323] +05/12 15:17:09 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4799.29s + House averages: + episode_total: mean=149.69s, total=2694.34s, count=18, min=310.1ms, max=214147.4ms + sensor_polling: mean=434.0ms, total=1788.34s, count=4121, min=366.0ms, max=931.9ms + save_trajectories: mean=11.29s, total=124.16s, count=11, min=9187.7ms, max=13028.9ms + physics_step: mean=26.7ms, total=109.94s, count=4121, min=15.1ms, max=68.7ms + save_batch_prep: mean=4.07s, total=44.77s, count=11, min=3298.6ms, max=5288.5ms + task_sampling: mean=891.8ms, total=15.16s, count=17, min=432.3ms, max=5755.7ms + task_specific_sample: mean=589.3ms, total=10.61s, count=18, min=297.2ms, max=978.3ms + scene_load: mean=4.77s, total=4.77s, count=1, min=4773.4ms, max=4773.4ms + scene_env_create: mean=2.60s, total=2.60s, count=1, min=2604.0ms, max=2604.0ms + scene_compile: mean=1.95s, total=1.95s, count=1, min=1946.6ms, max=1946.6ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1390.2ms, max=1390.2ms + compile_xml_load: mean=427.8ms, total=427.8ms, count=1, min=427.8ms, max=427.8ms + task_sampling_failed: mean=310.0ms, total=310.0ms, count=1, min=310.0ms, max=310.0ms + scene_init: mean=163.2ms, total=163.2ms, count=1, min=163.2ms, max=163.2ms + compile_aux_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + compile_aux_policy_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + scene_asset_install: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms + compile_robot_add: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=3.4ms + asset_install_grasps: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=510.9us, total=9.2ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=26.3us, total=0.4ms, 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 15:17:09 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 15:17:09 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4799.29s + Worker averages: + episode_total: mean=149.69s, total=2694.34s, count=18, min=310.1ms, max=214147.4ms + sensor_polling: mean=434.0ms, total=1788.34s, count=4121, min=366.0ms, max=931.9ms + save_trajectories: mean=11.29s, total=124.16s, count=11, min=9187.7ms, max=13028.9ms + physics_step: mean=26.7ms, total=109.94s, count=4121, min=15.1ms, max=68.7ms + save_batch_prep: mean=4.07s, total=44.77s, count=11, min=3298.6ms, max=5288.5ms + task_sampling: mean=891.8ms, total=15.16s, count=17, min=432.3ms, max=5755.7ms + task_specific_sample: mean=589.3ms, total=10.61s, count=18, min=297.2ms, max=978.3ms + scene_load: mean=4.77s, total=4.77s, count=1, min=4773.4ms, max=4773.4ms + scene_env_create: mean=2.60s, total=2.60s, count=1, min=2604.0ms, max=2604.0ms + scene_compile: mean=1.95s, total=1.95s, count=1, min=1946.6ms, max=1946.6ms + compile_mujoco: mean=1.39s, total=1.39s, count=1, min=1390.2ms, max=1390.2ms + compile_xml_load: mean=427.8ms, total=427.8ms, count=1, min=427.8ms, max=427.8ms + task_sampling_failed: mean=310.0ms, total=310.0ms, count=1, min=310.0ms, max=310.0ms + scene_init: mean=163.2ms, total=163.2ms, count=1, min=163.2ms, max=163.2ms + compile_aux_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + compile_aux_policy_objects: mean=69.5ms, total=69.5ms, count=1, min=69.5ms, max=69.5ms + scene_asset_install: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms + compile_robot_add: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=3.4ms + asset_install_grasps: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=510.9us, total=9.2ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + policy_setup: mean=26.3us, total=0.4ms, 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 15:17:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:17:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:17:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:17:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:17:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:17:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:17:10 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 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081877m [env.py: 870] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:17:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6194125 0.28961707 0.08187651] yaw=132.0deg [env.py: 1019] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02557074 1.19230375 0.08187651] yaw=-126.2deg [env.py: 1019] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70701789 0.24485219 0.08187651] yaw=180.5deg [env.py: 1019] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:17:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=509.0ms, total=509.0ms [env.py: 1075] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.619, 0.290, 0.082) [env.py: 1079] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.0 deg [env.py: 1082] +05/12 15:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m [env.py: 1086] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:17:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:17:10 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 15:17:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 15:17:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:17:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:17:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:17:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:17:11 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 15:17:11 INFO: Success count: 11, Total count: 11 [pipeline.py: 1491] +05/12 15:17:11 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 15:17:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:17:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.812[m] 99.007[deg] [grasp_sample.py: 539] +05/12 15:17:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:17:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:17:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:17:14 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 15:17:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:18:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:18:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:18:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:18:36 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:18:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:18:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:18:56 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 15:18:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:18:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 15:18:59 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.778s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:18:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.027[m] 0.410[deg] [grasp_sample.py: 539] +05/12 15:18:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:19:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:19:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:19:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:19:04 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [pipeline.py: 1174] +05/12 15:19:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_016 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:19:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:19:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:19:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:19:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:19:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_016 [save_utils.py: 785] +05/12 15:19:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_016 in 15.18s (batch: 4.10s, save: 11.08s) [pipeline.py: 300] +05/12 15:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:20 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.07s: + episode_total: mean=154.20s, total=308.40s, count=2, min=126872.4ms, max=181532.0ms + sensor_polling: mean=395.5ms, total=219.49s, count=555, min=339.4ms, max=994.9ms + physics_step: mean=24.3ms, total=13.46s, count=555, min=17.0ms, max=33.5ms + save_trajectories: mean=11.08s, total=11.08s, count=1, min=11078.6ms, max=11078.6ms + save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4097.8ms, max=4097.8ms + task_sampling: mean=533.5ms, total=1.07s, count=2, min=530.4ms, max=536.6ms + task_specific_sample: mean=527.7ms, total=1.06s, count=2, min=523.4ms, max=531.9ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.9ms, max=2.2ms + mj_forward_sync: mean=548.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=16.6us, 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 15:19:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:19:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:19:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:19:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:19:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:19:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:19:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:19:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:19:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:19:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:19:21 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 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024491m [env.py: 870] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:19:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67857867 0.2635899 0.02449144] yaw=168.9deg [env.py: 1019] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:19:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66117938 0.52558906 0.02449144] yaw=-141.4deg [env.py: 1019] +05/12 15:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:19:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.4ms, total=191.5ms [env.py: 1075] +05/12 15:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.264, 0.024) [env.py: 1079] +05/12 15:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg [env.py: 1082] +05/12 15:19:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/12 15:19:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:19:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:19:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:19:22 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 15:19:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 15:19:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:19:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:19:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.405s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:19:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.579[m] 84.913[deg] [grasp_sample.py: 539] +05/12 15:19:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:19:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:19:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:19:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:19:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:19:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:19:31 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 15:19:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:19:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 15:19:34 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.180s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:19:34 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.843[deg] [grasp_sample.py: 539] +05/12 15:19:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:19:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:19:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:19:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:19:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:19:46 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 15:19:46 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.88s: + episode_total: mean=156.80s, total=156.80s, count=1, min=156803.1ms, max=156803.1ms + sensor_polling: mean=392.2ms, total=117.66s, count=300, min=371.8ms, max=801.7ms + physics_step: mean=22.2ms, total=6.65s, count=300, min=15.7ms, max=30.8ms + task_sampling: mean=877.6ms, total=877.6ms, count=1, min=877.6ms, max=877.6ms + task_specific_sample: mean=872.0ms, total=872.0ms, count=1, min=872.0ms, max=872.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=462.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:19:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:19:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:19:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:19:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:19:48 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 15:19:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:19:48 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 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067783m [env.py: 870] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:19:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01904176 1.26460378 0.06778264] yaw=-100.7deg [env.py: 1019] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74632995 0.26210919 0.06778264] yaw=167.0deg [env.py: 1019] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.18491196 1.08824217 0.06778264] yaw=-138.5deg [env.py: 1019] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:19:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=282.0ms, total=282.1ms [env.py: 1075] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 1.265, 0.068) [env.py: 1079] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.7 deg [env.py: 1082] +05/12 15:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:19:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:19:49 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 15:19:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/12 15:19:49 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 15:19:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:19:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:19:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.694s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:19:56 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.729[m] 102.571[deg] [grasp_sample.py: 539] +05/12 15:19:57 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:19:59 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:19:59 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:19:59 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes [pipeline.py: 1323] +05/12 15:19:59 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5080.23s + House averages: + episode_total: mean=158.82s, total=2858.72s, count=18, min=3472.8ms, max=214730.7ms + sensor_polling: mean=439.2ms, total=1884.84s, count=4292, min=371.8ms, max=1012.6ms + save_trajectories: mean=11.75s, total=129.26s, count=11, min=10925.1ms, max=12815.2ms + physics_step: mean=26.3ms, total=112.79s, count=4292, min=15.7ms, max=81.5ms + save_batch_prep: mean=5.24s, total=57.60s, count=11, min=4085.1ms, max=6727.8ms + task_sampling: mean=848.6ms, total=15.27s, count=18, min=415.1ms, max=5462.0ms + task_specific_sample: mean=583.2ms, total=10.50s, count=18, min=411.6ms, max=872.0ms + scene_load: mean=4.69s, total=4.69s, count=1, min=4690.5ms, max=4690.5ms + scene_env_create: mean=2.73s, total=2.73s, count=1, min=2733.1ms, max=2733.1ms + scene_compile: mean=1.70s, total=1.70s, count=1, min=1696.1ms, max=1696.1ms + compile_mujoco: mean=1.40s, total=1.40s, count=1, min=1395.4ms, max=1395.4ms + compile_xml_load: mean=196.8ms, total=196.8ms, count=1, min=196.8ms, max=196.8ms + scene_init: mean=195.7ms, total=195.7ms, count=1, min=195.7ms, max=195.7ms + scene_asset_install: mean=65.0ms, total=65.0ms, count=1, min=65.0ms, max=65.0ms + compile_aux_objects: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + compile_aux_policy_objects: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + scene_randomize: mean=2.9ms, total=52.6ms, count=18, min=1.2ms, max=5.8ms + asset_install_grasps: mean=46.7ms, total=46.7ms, count=1, min=46.7ms, max=46.7ms + compile_robot_add: mean=34.5ms, total=34.5ms, count=1, min=34.5ms, max=34.5ms + asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms + mj_forward_sync: mean=535.3us, total=9.6ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + policy_setup: mean=25.5us, 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 15:19:59 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 15:19:59 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5080.23s + Worker averages: + episode_total: mean=158.82s, total=2858.72s, count=18, min=3472.8ms, max=214730.7ms + sensor_polling: mean=439.2ms, total=1884.84s, count=4292, min=371.8ms, max=1012.6ms + save_trajectories: mean=11.75s, total=129.26s, count=11, min=10925.1ms, max=12815.2ms + physics_step: mean=26.3ms, total=112.79s, count=4292, min=15.7ms, max=81.5ms + save_batch_prep: mean=5.24s, total=57.60s, count=11, min=4085.1ms, max=6727.8ms + task_sampling: mean=848.6ms, total=15.27s, count=18, min=415.1ms, max=5462.0ms + task_specific_sample: mean=583.2ms, total=10.50s, count=18, min=411.6ms, max=872.0ms + scene_load: mean=4.69s, total=4.69s, count=1, min=4690.5ms, max=4690.5ms + scene_env_create: mean=2.73s, total=2.73s, count=1, min=2733.1ms, max=2733.1ms + scene_compile: mean=1.70s, total=1.70s, count=1, min=1696.1ms, max=1696.1ms + compile_mujoco: mean=1.40s, total=1.40s, count=1, min=1395.4ms, max=1395.4ms + compile_xml_load: mean=196.8ms, total=196.8ms, count=1, min=196.8ms, max=196.8ms + scene_init: mean=195.7ms, total=195.7ms, count=1, min=195.7ms, max=195.7ms + scene_asset_install: mean=65.0ms, total=65.0ms, count=1, min=65.0ms, max=65.0ms + compile_aux_objects: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + compile_aux_policy_objects: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms + scene_randomize: mean=2.9ms, total=52.6ms, count=18, min=1.2ms, max=5.8ms + asset_install_grasps: mean=46.7ms, total=46.7ms, count=1, min=46.7ms, max=46.7ms + compile_robot_add: mean=34.5ms, total=34.5ms, count=1, min=34.5ms, max=34.5ms + asset_install_objects: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms + mj_forward_sync: mean=535.3us, total=9.6ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + policy_setup: mean=25.5us, 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 15:20:02 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 15:20:02 INFO: Success count: 11, Total count: 12 [pipeline.py: 1491] +05/12 15:20:02 INFO: Success rate: 91.67% [pipeline.py: 1492] +05/12 15:20:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:20:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:20:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:20:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:20:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:20:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:20:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:20:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 15:20:57 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.814s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:20:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.437[deg] [grasp_sample.py: 539] +05/12 15:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:20:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:20:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:21:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:21:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:21:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:21:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:21:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:21:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:21:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:21:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:21:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 4.489s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:21:54 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.035[m] 10.816[deg] [grasp_sample.py: 539] +05/12 15:21:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:21:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:21:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:21:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:22:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:22:07 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 15:22:07 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.50s: + episode_total: mean=165.38s, total=165.38s, count=1, min=165384.9ms, max=165384.9ms + sensor_polling: mean=390.7ms, total=117.22s, count=300, min=370.4ms, max=787.9ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=15.1ms, max=56.6ms + task_sampling: mean=498.1ms, total=498.1ms, count=1, min=498.1ms, max=498.1ms + task_specific_sample: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:22:08 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:22:08 WARNING: [Worker 0] No trajectory data to save for chunk_016 [pipeline.py: 234] +05/12 15:22:08 INFO: [Worker 0] Worker 0 completed house 1: 10/13 successful episodes [pipeline.py: 1323] +05/12 15:22:08 INFO: [Worker 0] [PROFILE] House 1 complete: 10/13 successful, 13 episodes, total_time=5300.79s + House averages: + episode_total: mean=166.40s, total=2995.16s, count=18, min=3409.5ms, max=224030.6ms + sensor_polling: mean=423.8ms, total=1985.56s, count=4685, min=339.4ms, max=994.9ms + physics_step: mean=26.2ms, total=122.58s, count=4685, min=15.1ms, max=97.9ms + save_trajectories: mean=11.71s, total=117.11s, count=10, min=11078.6ms, max=12390.2ms + save_batch_prep: mean=4.31s, total=43.05s, count=10, min=3754.5ms, max=4819.3ms + task_sampling: mean=833.7ms, total=15.01s, count=18, min=419.3ms, max=5903.3ms + task_specific_sample: mean=552.6ms, total=9.95s, count=18, min=415.2ms, max=916.2ms + scene_load: mean=4.98s, total=4.98s, count=1, min=4983.3ms, max=4983.3ms + scene_env_create: mean=2.56s, total=2.56s, count=1, min=2564.8ms, max=2564.8ms + scene_compile: mean=2.19s, total=2.19s, count=1, min=2194.3ms, max=2194.3ms + compile_mujoco: mean=1.35s, total=1.35s, count=1, min=1346.8ms, max=1346.8ms + compile_xml_load: mean=725.9ms, total=725.9ms, count=1, min=725.9ms, max=725.9ms + scene_init: mean=119.1ms, total=119.1ms, count=1, min=119.1ms, max=119.1ms + scene_asset_install: mean=104.9ms, total=104.9ms, count=1, min=104.9ms, max=104.9ms + asset_install_grasps: mean=82.4ms, total=82.4ms, count=1, min=82.4ms, max=82.4ms + compile_aux_objects: mean=68.4ms, total=68.4ms, count=1, min=68.4ms, max=68.4ms + compile_aux_policy_objects: mean=68.4ms, total=68.4ms, count=1, min=68.4ms, max=68.4ms + scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms + compile_robot_add: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + asset_install_objects: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms + mj_forward_sync: mean=510.9us, total=9.2ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=37.8us, total=0.7ms, 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 15:22:08 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 15:22:08 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5300.79s + Worker averages: + episode_total: mean=166.40s, total=2995.16s, count=18, min=3409.5ms, max=224030.6ms + sensor_polling: mean=423.8ms, total=1985.56s, count=4685, min=339.4ms, max=994.9ms + physics_step: mean=26.2ms, total=122.58s, count=4685, min=15.1ms, max=97.9ms + save_trajectories: mean=11.71s, total=117.11s, count=10, min=11078.6ms, max=12390.2ms + save_batch_prep: mean=4.31s, total=43.05s, count=10, min=3754.5ms, max=4819.3ms + task_sampling: mean=833.7ms, total=15.01s, count=18, min=419.3ms, max=5903.3ms + task_specific_sample: mean=552.6ms, total=9.95s, count=18, min=415.2ms, max=916.2ms + scene_load: mean=4.98s, total=4.98s, count=1, min=4983.3ms, max=4983.3ms + scene_env_create: mean=2.56s, total=2.56s, count=1, min=2564.8ms, max=2564.8ms + scene_compile: mean=2.19s, total=2.19s, count=1, min=2194.3ms, max=2194.3ms + compile_mujoco: mean=1.35s, total=1.35s, count=1, min=1346.8ms, max=1346.8ms + compile_xml_load: mean=725.9ms, total=725.9ms, count=1, min=725.9ms, max=725.9ms + scene_init: mean=119.1ms, total=119.1ms, count=1, min=119.1ms, max=119.1ms + scene_asset_install: mean=104.9ms, total=104.9ms, count=1, min=104.9ms, max=104.9ms + asset_install_grasps: mean=82.4ms, total=82.4ms, count=1, min=82.4ms, max=82.4ms + compile_aux_objects: mean=68.4ms, total=68.4ms, count=1, min=68.4ms, max=68.4ms + compile_aux_policy_objects: mean=68.4ms, total=68.4ms, count=1, min=68.4ms, max=68.4ms + scene_randomize: mean=2.4ms, total=42.4ms, count=18, min=1.2ms, max=3.4ms + compile_robot_add: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + asset_install_objects: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms + mj_forward_sync: mean=510.9us, total=9.2ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=37.8us, total=0.7ms, 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 15:22:11 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 15:22:11 INFO: Success count: 10, Total count: 13 [pipeline.py: 1491] +05/12 15:22:11 INFO: Success rate: 76.92% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_016/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_016/trajectories_batch_1_of_4_cam_rand.h5 index 7500f68ea644c35522d4bc18bc2fe1012891c0b5..53997bdbaf3cea189bcec579a5466c72b62a064f 100644 --- a/fridge_m_0.7_pd/chunk_016/trajectories_batch_1_of_4_cam_rand.h5 +++ b/fridge_m_0.7_pd/chunk_016/trajectories_batch_1_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c037a3e5c2d4c8471dc7135bd2d1454dcaefe8e8ea7be5d7571258b8e2b1a75a -size 739219752 +oid sha256:fa7b5d3f0c09593e5d93d55792bd21490747961c4d07f095a0b574b366de43d3 +size 815640605 diff --git a/fridge_m_0.7_pd/chunk_016/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_016/trajectories_batch_2_of_4_cam_rand.h5 index 0520fe5531730127f764c202fbb32087439d77c3..965e6037f805073867c5943c2f3ab637b25db779 100644 --- a/fridge_m_0.7_pd/chunk_016/trajectories_batch_2_of_4_cam_rand.h5 +++ b/fridge_m_0.7_pd/chunk_016/trajectories_batch_2_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f5d00887e13c5c2f15f4965c026f189dce398cb6f57fdc8c5a04d59e45b28a7 -size 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0000000000000000000000000000000000000000..69fc89027b913d20228f90369a9f6a77b93affa5 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_017/experiment_config_20260512_152349.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88d79117db492bbc18e8474527f1dcd1b2cfc6f85cb18b8cfbc59345a3c52768 +size 8153 diff --git a/fridge_m_0.7_pd/chunk_017/running_log.log b/fridge_m_0.7_pd/chunk_017/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..e253d2f1c1a3a48089ca4f73119606e5ce2fcefa --- /dev/null +++ b/fridge_m_0.7_pd/chunk_017/running_log.log @@ -0,0 +1,5882 @@ +05/12 15:23:49 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 15:23:49 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 15:23:49 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 15:23:49 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_017'), + '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': 51704, + '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 15:23:49 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 15:23:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 15:23:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 15:23:49 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 15:23:49 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 15:23:49 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 15:23:49 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_017'), + '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': 51703, + '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 15:23:49 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 15:23:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 15:23:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 15:23:49 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 15:23:49 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 15:23:49 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 15:23:49 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_017'), + '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': 51701, + '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 15:23:49 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 15:23:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 15:23:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 15:23:49 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 15:23:49 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 15:23:49 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 15:23:49 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_017'), + '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': 51702, + '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 15:23:49 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 15:23:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 15:23:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 15:23:49 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 15:23:49 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 15:23:49 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 15:23:49 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 15:23:53 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 15:23:53 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 15:23:53 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 15:23:53 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 15:23:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:23:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:23:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:23:53 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 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034026m [env.py: 870] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:23:53 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 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89568063 1.14474075 0.03402618] yaw=-173.8deg [env.py: 1019] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65393821 0.21476829 0.03402618] yaw=181.6deg [env.py: 1019] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:23:53 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 15:23:53 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 15:23:53 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 15:23:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:23:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:23:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:23:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064834m [env.py: 870] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:23:53 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 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:23:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.1ms, retries=328.9ms, total=350.0ms [env.py: 1075] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 1.145, 0.034) [env.py: 1079] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.8 deg [env.py: 1082] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:53 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 15:23:53 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 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 15:23:53 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87595879 0.45349273 0.06483356] yaw=202.8deg [env.py: 1019] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:23:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=55.7ms, retries=250.8ms, total=306.5ms [env.py: 1075] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.453, 0.065) [env.py: 1079] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 202.8 deg [env.py: 1082] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:53 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 15:23:53 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 15:23:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:23:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:23:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:23:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020409m [env.py: 870] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:23:53 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 15:23:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:23:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:23:53 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 15:23:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:23:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:23:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:23:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026903m [env.py: 870] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:23:53 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 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07818105 1.24574718 0.02040898] yaw=-107.7deg [env.py: 1019] +05/12 15:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69676263 0.31028031 0.02040898] yaw=132.4deg [env.py: 1019] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:23:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=30.8ms, retries=194.0ms, total=224.7ms [env.py: 1075] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.246, 0.020) [env.py: 1079] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.7 deg [env.py: 1082] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09038703 1.07493682 0.02690263] yaw=-172.7deg [env.py: 1019] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82133275 1.00662572 0.02690263] yaw=-180.5deg [env.py: 1019] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:23:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:23:54 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.61793367 0.48939141 0.02690263] yaw=-214.7deg [env.py: 1019] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:23:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=27.4ms, retries=166.2ms, total=193.6ms [env.py: 1075] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.090, 1.075, 0.027) [env.py: 1079] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg [env.py: 1082] +05/12 15:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:23:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:23:54 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 15:23:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:23:54 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 15:24:28 INFO: [Worker 0] Warmed up parallel IK solver in 34.394s [base_object_manipulation_planner_policy.py: 377] +05/12 15:24:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:24:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:24:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:24:29 INFO: [Worker 0] Warmed up parallel IK solver in 35.272s [base_object_manipulation_planner_policy.py: 377] +05/12 15:24:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:24:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:24:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:24:30 INFO: [Worker 0] Warmed up parallel IK solver in 36.192s [base_object_manipulation_planner_policy.py: 377] +05/12 15:24:30 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 15:24:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:24:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:24:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.805s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:24:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.723[m] 79.630[deg] [grasp_sample.py: 539] +05/12 15:24:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.845s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:24:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 85.143[deg] [grasp_sample.py: 539] +05/12 15:24:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:24:31 INFO: [Worker 0] Warmed up parallel IK solver in 37.199s [base_object_manipulation_planner_policy.py: 377] +05/12 15:24:31 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 15:24:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:24:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:24:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:24:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:24:32 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 15:24:32 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:24:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.788s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:24:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 97.474[deg] [grasp_sample.py: 539] +05/12 15:24:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.853s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:24:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.529[m] 84.279[deg] [grasp_sample.py: 539] +05/12 15:24:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:24:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:24:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:24:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:24:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:24:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:24:33 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 15:24:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:24:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:24:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:24:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:24:34 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 15:24:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:24:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031569m [env.py: 870] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:24:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70510514 0.55053602 0.03156916] yaw=-201.8deg [env.py: 1019] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89863415 0.95005286 0.03156916] yaw=-120.1deg [env.py: 1019] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.092282 0.95797856 0.03156916] yaw=-141.9deg [env.py: 1019] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:24:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.1ms, total=244.1ms [env.py: 1075] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.551, 0.032) [env.py: 1079] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.8 deg [env.py: 1082] +05/12 15:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:24:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:24:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:24:34 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 15:24:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 15:24:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:24:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:24:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:24:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.633s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:24:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.617[m] 93.093[deg] [grasp_sample.py: 539] +05/12 15:24:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:24:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:24:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:24:37 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 15:25:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:25:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:25:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:25:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:25:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:25:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:25:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:25:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:25:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:25:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:25:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:25:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:26:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:26:23 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 15:26:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:26:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:26:24 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.693s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:26:24 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.165[deg] [grasp_sample.py: 539] +05/12 15:26:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:26:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:26:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:26:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:26:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:26:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:26:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.751s, found feasible grasp: False [grasp_sample.py: 500] +05/12 15:26:37 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 15:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:26:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:26:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:26:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:26:39 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 15:26:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:26:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022847m [env.py: 870] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:26:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70224214 0.33896645 0.0228465 ] yaw=198.8deg [env.py: 1019] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8256751 0.29592573 0.0228465 ] yaw=151.0deg [env.py: 1019] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91358938 0.13333721 0.0228465 ] yaw=141.7deg [env.py: 1019] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:26:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms [env.py: 1075] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.339, 0.023) [env.py: 1079] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 198.8 deg [env.py: 1082] +05/12 15:26:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:26:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:26:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:26:39 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 15:26:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 15:26:39 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 15:26:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:26:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.032s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:26:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.621[m] 87.156[deg] [grasp_sample.py: 539] +05/12 15:26:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:26:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:26:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:26:41 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 15:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:26:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:26:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:26:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:26:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:26:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:26:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:26:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.566s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:26:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.476[deg] [grasp_sample.py: 539] +05/12 15:26:49 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:26:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:26:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:26:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:26:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:26:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029572m [env.py: 870] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66052751 0.75160591 0.02957239] yaw=-181.5deg [env.py: 1019] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0644548 1.06150496 0.02957239] yaw=-120.8deg [env.py: 1019] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:26:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=347.2ms, total=347.3ms [env.py: 1075] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.661, 0.752, 0.030) [env.py: 1079] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.5 deg [env.py: 1082] +05/12 15:26:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/12 15:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:26:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:26:51 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 15:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 15:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:26:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:26:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:26:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.520s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:26:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 76.438[deg] [grasp_sample.py: 539] +05/12 15:26:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:26:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:26:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:27:01 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:27:02 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:27:28 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:27:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:27:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:27:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:27:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:27:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:27:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:27:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:27:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:27:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:27:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.65s (batch: 4.91s, save: 11.75s) [pipeline.py: 300] +05/12 15:27:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.82s: + episode_total: mean=237.07s, total=237.07s, count=1, min=237066.8ms, max=237066.8ms + sensor_polling: mean=425.8ms, total=127.73s, count=300, min=365.8ms, max=673.0ms + save_trajectories: mean=11.75s, total=11.75s, count=1, min=11745.8ms, max=11745.8ms + physics_step: mean=26.6ms, total=7.99s, count=300, min=15.6ms, max=76.5ms + save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4907.0ms, max=4907.0ms + task_sampling: mean=4.82s, total=4.82s, count=1, min=4818.5ms, max=4818.5ms + 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 + task_specific_sample: mean=663.8ms, total=663.8ms, count=1, min=663.8ms, max=663.8ms + 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 + 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 + asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + mj_forward_sync: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + policy_setup: mean=78.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 15:27:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:27:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:27:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.85s (batch: 4.18s, save: 11.67s) [pipeline.py: 300] +05/12 15:27:47 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.23s: + episode_total: mean=118.19s, total=236.39s, count=2, min=43370.1ms, max=193016.3ms + sensor_polling: mean=449.9ms, total=134.96s, count=300, min=388.9ms, max=643.1ms + save_trajectories: mean=11.67s, total=11.67s, count=1, min=11668.7ms, max=11668.7ms + physics_step: mean=28.3ms, total=8.50s, count=300, min=18.0ms, max=59.8ms + task_sampling: mean=2.61s, total=5.23s, count=2, min=513.2ms, max=4715.7ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.8ms, max=4178.8ms + 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 + task_specific_sample: mean=619.9ms, total=1.24s, count=2, min=510.4ms, max=729.4ms + 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 + asset_install_objects: mean=16.1ms, total=16.1ms, count=1, min=16.1ms, max=16.1ms + asset_install_scene: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.3ms, max=1.9ms + mj_forward_sync: mean=455.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=39.7us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:27:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:27:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:27:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:27:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:27:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:27:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:27:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:27:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:27:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:27:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:27:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061207m [env.py: 870] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:27:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00431863 0.99638433 0.06120744] yaw=-114.9deg [env.py: 1019] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:27:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.0ms, total=193.1ms [env.py: 1075] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.996, 0.061) [env.py: 1079] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.9 deg [env.py: 1082] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:27:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:27:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 15:27:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:27:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 15:27:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:27:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:27:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:27:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:27:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:27:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:27:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:27:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:27:48 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 15:27:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:27:48 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 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052565m [env.py: 870] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:27:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04362749 1.12642701 0.05256544] yaw=-125.9deg [env.py: 1019] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97928105 1.06619512 0.05256544] yaw=-108.1deg [env.py: 1019] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:27:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=357.3ms, total=357.3ms [env.py: 1075] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.044, 1.126, 0.053) [env.py: 1079] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.9 deg [env.py: 1082] +05/12 15:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/12 15:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:27:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:27:49 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 15:27:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 15:27:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:27:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:27:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.192s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:27:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 94.700[deg] [grasp_sample.py: 539] +05/12 15:27:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:27:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:27:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:27:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:27:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:27:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:27:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.040s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:27:58 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.553[m] 89.549[deg] [grasp_sample.py: 539] +05/12 15:28:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:28:00 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:28:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:28:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:28:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:28:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:28:02 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 15:28:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:28:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064003m [env.py: 870] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:28:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02162074 1.1918815 0.06400258] yaw=-143.6deg [env.py: 1019] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08363311 1.23103562 0.06400258] yaw=-106.7deg [env.py: 1019] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76218888 0.35564883 0.06400258] yaw=135.8deg [env.py: 1019] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:28:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.4ms, total=216.4ms [env.py: 1075] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.192, 0.064) [env.py: 1079] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.6 deg [env.py: 1082] +05/12 15:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:28:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:28:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 15:28:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 15:28:02 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 15:28:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:28:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:28:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.799s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:28:05 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.593[m] 84.687[deg] [grasp_sample.py: 539] +05/12 15:28:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:28:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:28:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:28:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:28:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:28:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:28:56 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:29:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:29:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:29:12 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:29:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:29:25 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:29:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:29:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:29:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:29:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:29:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.01s (batch: 4.43s, save: 10.58s) [pipeline.py: 300] +05/12 15:29:40 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.23s: + episode_total: mean=174.74s, total=349.49s, count=2, min=167908.6ms, max=181578.0ms + sensor_polling: mean=424.9ms, total=226.90s, count=534, min=372.9ms, max=666.3ms + physics_step: mean=26.1ms, total=13.96s, count=534, min=16.9ms, max=81.8ms + save_trajectories: mean=10.58s, total=10.58s, count=1, min=10576.9ms, max=10576.9ms + task_sampling: mean=2.62s, total=5.23s, count=2, min=407.9ms, max=4826.8ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4433.8ms, max=4433.8ms + 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 + task_specific_sample: mean=477.0ms, total=954.1ms, count=2, min=405.1ms, max=549.0ms + 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 + 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 + 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 + asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms + mj_forward_sync: mean=570.2us, total=1.1ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=38.4us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:29:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:29:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:29:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:29:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:29:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:29:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:29:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:29:42 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 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071592m [env.py: 870] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94807243 0.5542143 0.0715925 ] yaw=-163.8deg [env.py: 1019] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63375482 0.70858172 0.0715925 ] yaw=-170.9deg [env.py: 1019] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:29:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=251.6ms, total=251.7ms [env.py: 1075] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.554, 0.072) [env.py: 1079] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg [env.py: 1082] +05/12 15:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m [env.py: 1086] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:29:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:29:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 15:29:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 15:29:43 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 15:29:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:29:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:29:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.779s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:29:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 89.876[deg] [grasp_sample.py: 539] +05/12 15:29:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:29:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:29:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:29:44 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 15:29:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:29:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:29:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.57s (batch: 4.30s, save: 10.27s) [pipeline.py: 300] +05/12 15:29:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.64s: + episode_total: mean=183.12s, total=366.23s, count=2, min=179733.8ms, max=186499.7ms + sensor_polling: mean=423.2ms, total=240.37s, count=568, min=365.7ms, max=810.0ms + physics_step: mean=26.6ms, total=15.10s, count=568, min=16.9ms, max=38.8ms + save_trajectories: mean=10.27s, total=10.27s, count=1, min=10269.7ms, max=10269.7ms + task_sampling: mean=2.82s, total=5.64s, count=2, min=610.0ms, max=5032.7ms + scene_load: mean=4.51s, total=4.51s, count=1, min=4513.4ms, max=4513.4ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.1ms, max=4304.1ms + 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 + task_specific_sample: mean=561.3ms, total=1.12s, count=2, min=515.8ms, max=606.9ms + 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 + 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 + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.5ms, max=1.9ms + mj_forward_sync: mean=522.4us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=40.9us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:29:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:29:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:29:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:29:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:29:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:29:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:29:58 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 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067111m [env.py: 870] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:29:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72012478 0.52084712 0.06711054] yaw=-198.4deg [env.py: 1019] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77595207 0.26229936 0.06711054] yaw=178.0deg [env.py: 1019] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:29:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.0ms, total=221.1ms [env.py: 1075] +05/12 15:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.521, 0.067) [env.py: 1079] +05/12 15:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -198.4 deg [env.py: 1082] +05/12 15:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/12 15:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:29:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:29:59 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 15:29:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/12 15:29:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:29:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:29:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:30:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:30:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.572[m] 84.638[deg] [grasp_sample.py: 539] +05/12 15:30:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:30:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:30:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:30:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:07 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:30:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:30:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:30:16 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 15:30:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:30:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:30:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.595s, found feasible grasp: False [grasp_sample.py: 500] +05/12 15:30:19 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 15:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:30:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:30:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:30:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:30:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090252m [env.py: 870] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78020407 0.22904866 0.09025162] yaw=157.5deg [env.py: 1019] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05327286 1.26342957 0.09025162] yaw=-121.1deg [env.py: 1019] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95007021 0.9719246 0.09025162] yaw=-176.7deg [env.py: 1019] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=332.4ms, total=332.5ms [env.py: 1075] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.229, 0.090) [env.py: 1079] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.5 deg [env.py: 1082] +05/12 15:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:30:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:30:21 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 15:30:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 15:30:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:30:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:30:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:30:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.949s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:30:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.515[m] 90.919[deg] [grasp_sample.py: 539] +05/12 15:30:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:30:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:30:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:30:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:30:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:30:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:30:35 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:30:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:30:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:30:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:30:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:30:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:30:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.61s (batch: 4.30s, save: 11.31s) [pipeline.py: 300] +05/12 15:30:52 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s: + episode_total: mean=184.44s, total=184.44s, count=1, min=184439.8ms, max=184439.8ms + sensor_polling: mean=424.8ms, total=127.44s, count=300, min=363.4ms, max=686.9ms + save_trajectories: mean=11.31s, total=11.31s, count=1, min=11305.7ms, max=11305.7ms + physics_step: mean=26.4ms, total=7.92s, count=300, min=17.9ms, max=52.9ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4303.2ms, max=4303.2ms + task_sampling: mean=480.3ms, total=480.3ms, count=1, min=480.3ms, max=480.3ms + 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=454.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.1us, 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 15:30:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:30:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:30:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:30:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:30:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:30:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:30:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:30:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:30:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:30:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083909m [env.py: 870] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:30:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80496177 0.80697371 0.08390911] yaw=-155.7deg [env.py: 1019] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93703761 0.21063075 0.08390911] yaw=190.6deg [env.py: 1019] +05/12 15:30:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99741837 0.98508038 0.08390911] yaw=-108.4deg [env.py: 1019] +05/12 15:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:30:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=154.5ms, total=154.5ms [env.py: 1075] +05/12 15:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.807, 0.084) [env.py: 1079] +05/12 15:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.7 deg [env.py: 1082] +05/12 15:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/12 15:30:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:30:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:30:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:30:54 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 15:30:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 15:30:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:30:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:30:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:30:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.025s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:30:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.492[m] 79.764[deg] [grasp_sample.py: 539] +05/12 15:30:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:30:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:30:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:30:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:31:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:31:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:31:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:31:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:31:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:31:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:31:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:32:00 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:32:19 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:32:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:32:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:32:26 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/12 15:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:32:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:32:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.80s (batch: 3.71s, save: 10.09s) [pipeline.py: 300] +05/12 15:32:40 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s: + episode_total: mean=178.16s, total=178.16s, count=1, min=178158.9ms, max=178158.9ms + sensor_polling: mean=431.2ms, total=123.77s, count=287, min=377.7ms, max=822.1ms + save_trajectories: mean=10.09s, total=10.09s, count=1, min=10086.1ms, max=10086.1ms + physics_step: mean=27.4ms, total=7.85s, count=287, min=21.8ms, max=39.8ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3710.8ms, max=3710.8ms + task_sampling: mean=527.2ms, total=527.2ms, count=1, min=527.2ms, max=527.2ms + task_specific_sample: mean=523.3ms, total=523.3ms, count=1, min=523.3ms, max=523.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=453.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:32:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:32:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:32:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:32:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:32:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:32:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094114m [env.py: 870] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:32:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77019426 0.54854665 0.09411412] yaw=-198.6deg [env.py: 1019] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74055922 0.50804055 0.09411412] yaw=-173.3deg [env.py: 1019] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91042953 0.78351974 0.09411412] yaw=-151.0deg [env.py: 1019] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:32:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=363.1ms, total=363.2ms [env.py: 1075] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.549, 0.094) [env.py: 1079] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -198.6 deg [env.py: 1082] +05/12 15:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:32:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:32:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:32:42 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 15:32:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 15:32:42 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 15:32:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:32:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.147s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:32:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.564[m] 92.859[deg] [grasp_sample.py: 539] +05/12 15:32:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:32:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:32:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:32:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:32:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:32:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:32:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:32:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:32:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:32:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:32:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:32:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.012[deg] [grasp_sample.py: 539] +05/12 15:32:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:32:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:32:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:32:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:32:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:32:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:32:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.66s (batch: 3.73s, save: 10.92s) [pipeline.py: 300] +05/12 15:33:00 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.52s: + episode_total: mean=181.73s, total=181.73s, count=1, min=181727.2ms, max=181727.2ms + sensor_polling: mean=423.2ms, total=126.95s, count=300, min=372.2ms, max=777.4ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10924.8ms, max=10924.8ms + physics_step: mean=26.8ms, total=8.05s, count=300, min=21.4ms, max=53.6ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3731.5ms, max=3731.5ms + task_sampling: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms + task_specific_sample: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=452.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.8us, 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 15:33:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:33:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:33:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:33:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:33:02 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 15:33:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:33:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025300m [env.py: 870] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:33:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0701287 0.97126656 0.02530016] yaw=-121.9deg [env.py: 1019] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8742288 0.3550657 0.02530016] yaw=177.4deg [env.py: 1019] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:33:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=203.9ms, total=203.9ms [env.py: 1075] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.971, 0.025) [env.py: 1079] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.9 deg [env.py: 1082] +05/12 15:33:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m [env.py: 1086] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:33:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:33:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:33:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 15:33:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 15:33:02 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 15:33:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:33:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:33:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:33:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 89.994[deg] [grasp_sample.py: 539] +05/12 15:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:33:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:33:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:33:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:33:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:33:17 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:33:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:33:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:33:40 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:33:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:33:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:33:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:33:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:33:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:33:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:33:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:33:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:33:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.75s (batch: 4.42s, save: 11.33s) [pipeline.py: 300] +05/12 15:33:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.83s: + episode_total: mean=121.67s, total=365.00s, count=3, min=11523.7ms, max=216126.5ms + sensor_polling: mean=451.4ms, total=249.15s, count=552, min=389.9ms, max=877.3ms + physics_step: mean=27.1ms, total=14.99s, count=552, min=21.4ms, max=56.1ms + save_trajectories: mean=11.33s, total=11.33s, count=1, min=11331.2ms, max=11331.2ms + save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4416.8ms, max=4416.8ms + task_sampling: mean=610.3ms, total=1.83s, count=3, min=534.9ms, max=677.2ms + task_specific_sample: mean=606.6ms, total=1.82s, count=3, min=530.8ms, max=673.4ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.5ms, max=2.5ms + mj_forward_sync: mean=552.0us, total=1.7ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=21.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:33:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:33:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:33:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:33:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:33:58 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 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027903m [env.py: 870] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7850576 0.93521987 0.0279035 ] yaw=-157.5deg [env.py: 1019] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13749188 1.1119711 0.0279035 ] yaw=-140.6deg [env.py: 1019] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79904017 0.40279176 0.0279035 ] yaw=191.0deg [env.py: 1019] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.7ms, total=158.8ms [env.py: 1075] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.935, 0.028) [env.py: 1079] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg [env.py: 1082] +05/12 15:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:33:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:33:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 15:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 15:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:33:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:34:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:34:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:34:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.28s (batch: 4.19s, save: 11.08s) [pipeline.py: 300] +05/12 15:34:01 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.52s: + episode_total: mean=187.35s, total=187.35s, count=1, min=187349.5ms, max=187349.5ms + sensor_polling: mean=434.8ms, total=130.45s, count=300, min=374.6ms, max=757.0ms + save_trajectories: mean=11.08s, total=11.08s, count=1, min=11082.7ms, max=11082.7ms + physics_step: mean=28.0ms, total=8.40s, count=300, min=21.8ms, max=65.5ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4192.3ms, max=4192.3ms + task_sampling: mean=523.6ms, total=523.6ms, count=1, min=523.6ms, max=523.6ms + task_specific_sample: mean=518.7ms, total=518.7ms, count=1, min=518.7ms, max=518.7ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=749.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=28.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:34:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:34:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:34:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:34:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:34:02 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 15:34:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:34:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082858m [env.py: 870] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:34:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95972137 0.69861511 0.08285805] yaw=-137.2deg [env.py: 1019] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97228796 0.26510564 0.08285805] yaw=176.2deg [env.py: 1019] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86074952 1.13105664 0.08285805] yaw=-114.1deg [env.py: 1019] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:34:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.3ms [env.py: 1075] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.699, 0.083) [env.py: 1079] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg [env.py: 1082] +05/12 15:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m [env.py: 1086] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:34:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:34:03 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 15:34:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 15:34:03 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 15:34:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:34:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:34:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.859s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:34:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 87.224[deg] [grasp_sample.py: 539] +05/12 15:34:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:34:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.369s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:34:04 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.608[m] 91.566[deg] [grasp_sample.py: 539] +05/12 15:34:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:34:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:34:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:34:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:34:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:34:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:34:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:34:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:34:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:35:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:35:08 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:35:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:35:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:35:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:35:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:35:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:35:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:35:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:35:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:35:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:35:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:35:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:35:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.06s (batch: 3.79s, save: 12.27s) [pipeline.py: 300] +05/12 15:35:52 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.67s: + episode_total: mean=190.20s, total=190.20s, count=1, min=190198.8ms, max=190198.8ms + sensor_polling: mean=432.6ms, total=129.78s, count=300, min=375.2ms, max=814.8ms + save_trajectories: mean=12.27s, total=12.27s, count=1, min=12272.8ms, max=12272.8ms + physics_step: mean=27.1ms, total=8.12s, count=300, min=17.0ms, max=40.5ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.3ms, max=3791.3ms + task_sampling: mean=669.6ms, total=669.6ms, count=1, min=669.6ms, max=669.6ms + task_specific_sample: mean=665.8ms, total=665.8ms, count=1, min=665.8ms, max=665.8ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=28.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:35:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:35:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:35:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:35:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:35:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:35:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:35:53 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 15:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082166m [env.py: 870] +05/12 15:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:35:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83275456 0.07625596 0.0821656 ] yaw=166.3deg [env.py: 1019] +05/12 15:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61776288 0.59413294 0.0821656 ] yaw=-200.9deg [env.py: 1019] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77628069 0.79703679 0.0821656 ] yaw=-131.4deg [env.py: 1019] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:35:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=178.6ms, total=178.6ms [env.py: 1075] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.076, 0.082) [env.py: 1079] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg [env.py: 1082] +05/12 15:35:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 15:35:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:35:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:35:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:35:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:35:54 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 15:35:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 15:35:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:35:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:35:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:35:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:35:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.561[m] 89.485[deg] [grasp_sample.py: 539] +05/12 15:35:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:35:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:35:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:35:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:36:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:36:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:36:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.76s (batch: 3.57s, save: 12.19s) [pipeline.py: 300] +05/12 15:36:02 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.54s: + episode_total: mean=179.84s, total=179.84s, count=1, min=179841.0ms, max=179841.0ms + sensor_polling: mean=414.5ms, total=124.35s, count=300, min=368.7ms, max=806.0ms + save_trajectories: mean=12.19s, total=12.19s, count=1, min=12187.8ms, max=12187.8ms + physics_step: mean=26.0ms, total=7.80s, count=300, min=21.2ms, max=34.8ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3569.0ms, max=3569.0ms + task_sampling: mean=538.1ms, total=538.1ms, count=1, min=538.1ms, max=538.1ms + task_specific_sample: mean=533.8ms, total=533.8ms, count=1, min=533.8ms, max=533.8ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=503.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:36:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:36:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:36:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043826m [env.py: 870] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04760254 1.1575945 0.04382562] yaw=-145.8deg [env.py: 1019] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.4ms, total=215.4ms [env.py: 1075] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.048, 1.158, 0.044) [env.py: 1079] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg [env.py: 1082] +05/12 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:36:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:36:04 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 15:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/12 15:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:36:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:36:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:36:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.641s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:36:11 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.550[m] 85.560[deg] [grasp_sample.py: 539] +05/12 15:36:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:36:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:36:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:36:12 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 15:36:27 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:36:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:36:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:36:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:36:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:36:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:36:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:36:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:36:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:36:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:37:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:37:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:37:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:37:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:37:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.86s (batch: 3.84s, save: 11.02s) [pipeline.py: 300] +05/12 15:37:09 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s: + episode_total: mean=190.85s, total=190.85s, count=1, min=190850.5ms, max=190850.5ms + sensor_polling: mean=437.2ms, total=131.17s, count=300, min=382.0ms, max=858.6ms + save_trajectories: mean=11.02s, total=11.02s, count=1, min=11021.5ms, max=11021.5ms + physics_step: mean=26.8ms, total=8.04s, count=300, min=21.5ms, max=53.0ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.0ms, max=3843.0ms + task_sampling: mean=484.8ms, total=484.8ms, count=1, min=484.8ms, max=484.8ms + task_specific_sample: mean=481.2ms, total=481.2ms, count=1, min=481.2ms, max=481.2ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=466.6us, 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 15:37:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:37:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:37:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:37:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:37:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:37:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:37:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:37:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:37:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062238m [env.py: 870] +05/12 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:37:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:37:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95796761 0.378603 0.0622383 ] yaw=184.4deg [env.py: 1019] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01820667 1.2101326 0.0622383 ] yaw=-163.6deg [env.py: 1019] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9101936 1.14250398 0.0622383 ] yaw=-179.8deg [env.py: 1019] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.4ms [env.py: 1075] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.379, 0.062) [env.py: 1079] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.4 deg [env.py: 1082] +05/12 15:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m [env.py: 1086] +05/12 15:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:37:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:37:11 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 15:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 15:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:37:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:37:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:37:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.775s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:37:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 91.667[deg] [grasp_sample.py: 539] +05/12 15:37:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:37:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:37:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:37:13 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 15:37:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:37:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:37:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.89s (batch: 4.01s, save: 12.88s) [pipeline.py: 300] +05/12 15:37:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:37:14 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.49s: + episode_total: mean=191.91s, total=191.91s, count=1, min=191908.2ms, max=191908.2ms + sensor_polling: mean=437.0ms, total=131.10s, count=300, min=372.4ms, max=743.1ms + save_trajectories: mean=12.88s, total=12.88s, count=1, min=12882.6ms, max=12882.6ms + physics_step: mean=27.8ms, total=8.33s, count=300, min=17.5ms, max=35.0ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4010.3ms, max=4010.3ms + task_sampling: mean=494.2ms, total=494.2ms, count=1, min=494.2ms, max=494.2ms + task_specific_sample: mean=489.5ms, total=489.5ms, count=1, min=489.5ms, max=489.5ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=599.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=34.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:37:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:37:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:37:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:37:16 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 15:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:37:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094068m [env.py: 870] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93576757 0.73685983 0.09406826] yaw=-190.2deg [env.py: 1019] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94447446 0.96494607 0.09406826] yaw=-146.2deg [env.py: 1019] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78058331 0.14916778 0.09406826] yaw=199.5deg [env.py: 1019] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=131.7ms, total=131.8ms [env.py: 1075] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.936, 0.737, 0.094) [env.py: 1079] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.2 deg [env.py: 1082] +05/12 15:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:37:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:37:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 15:37:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 15:37:16 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 15:37:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:37:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:37:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.225s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:37:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.504[m] 103.121[deg] [grasp_sample.py: 539] +05/12 15:37:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:37:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:37:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:37:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:37:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:37:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:38:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:38:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:38:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 15:38:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.585s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:38:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.870[deg] [grasp_sample.py: 539] +05/12 15:38:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:38:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:38:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:38:23 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 15:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:38:24 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.588s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:38:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.308[deg] [grasp_sample.py: 539] +05/12 15:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:38:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:38:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:38:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:38:27 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 15:38:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:38:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.567s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:38:27 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.283[deg] [grasp_sample.py: 539] +05/12 15:38:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:38:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:38:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:38:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:38:30 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 15:38:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:38:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:38:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.552s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:38:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.272[deg] [grasp_sample.py: 539] +05/12 15:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:38:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:38:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:11 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:38:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 15:38:34 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:38:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:38:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:38:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:38:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:38:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:38:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.660s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:38:38 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.285[deg] [grasp_sample.py: 539] +05/12 15:38:39 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:38:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:38:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:38:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:38:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:38:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:38:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:38:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:38:41 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 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044611m [env.py: 870] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:38:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68460348 0.85029146 0.04461136] yaw=-196.2deg [env.py: 1019] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71057763 0.51112445 0.04461136] yaw=-184.3deg [env.py: 1019] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91128281 0.78273139 0.04461136] yaw=-172.5deg [env.py: 1019] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:38:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=94.8ms, total=94.8ms [env.py: 1075] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.850, 0.045) [env.py: 1079] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.2 deg [env.py: 1082] +05/12 15:38:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m [env.py: 1086] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:38:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:38:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:38:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 15:38:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 15:38:41 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 15:38:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:38:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:38:43 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:38:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.008s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:38:45 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.727[m] 82.652[deg] [grasp_sample.py: 539] +05/12 15:38:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:38:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:38:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:39:00 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:39:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:39:00 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/12 15:39:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:39:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:39:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:39:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:39:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:39:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 13.74s (batch: 3.48s, save: 10.26s) [pipeline.py: 300] +05/12 15:39:14 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s: + episode_total: mean=201.03s, total=201.03s, count=1, min=201028.9ms, max=201028.9ms + sensor_polling: mean=457.1ms, total=128.90s, count=282, min=383.4ms, max=856.4ms + save_trajectories: mean=10.26s, total=10.26s, count=1, min=10264.2ms, max=10264.2ms + physics_step: mean=29.6ms, total=8.34s, count=282, min=16.9ms, max=57.3ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3478.2ms, max=3478.2ms + task_sampling: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms + task_specific_sample: mean=511.7ms, total=511.7ms, count=1, min=511.7ms, max=511.7ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=616.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=44.8us, 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 15:39:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:39:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:39:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:39:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:39:16 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 15:39:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:39:16 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 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028333m [env.py: 870] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:39:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7907905 0.33196037 0.02833291] yaw=204.3deg [env.py: 1019] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88842433 0.26554928 0.02833291] yaw=137.8deg [env.py: 1019] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85738856 0.060225 0.02833291] yaw=157.2deg [env.py: 1019] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:39:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=91.2ms, total=91.3ms [env.py: 1075] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.332, 0.028) [env.py: 1079] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 204.3 deg [env.py: 1082] +05/12 15:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:39:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:39:16 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 15:39:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/12 15:39:17 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 15:39:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:39:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:39:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.867s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:39:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.593[m] 83.172[deg] [grasp_sample.py: 539] +05/12 15:39:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:39:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:39:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:39:18 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 15:39:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:39:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:39:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.45s (batch: 3.69s, save: 11.77s) [pipeline.py: 300] +05/12 15:39:25 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.56s: + episode_total: mean=201.82s, total=201.82s, count=1, min=201819.2ms, max=201819.2ms + sensor_polling: mean=428.6ms, total=128.58s, count=300, min=382.4ms, max=882.5ms + save_trajectories: mean=11.77s, total=11.77s, count=1, min=11765.6ms, max=11765.6ms + physics_step: mean=25.3ms, total=7.59s, count=300, min=18.7ms, max=35.9ms + save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3688.5ms, max=3688.5ms + task_sampling: mean=564.3ms, total=564.3ms, count=1, min=564.3ms, max=564.3ms + task_specific_sample: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=599.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:39:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:39:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:39:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:39:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:39:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:39:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:39:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075863m [env.py: 870] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:39:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91412819 0.65544133 0.07586318] yaw=-141.5deg [env.py: 1019] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78334191 0.67216199 0.07586318] yaw=-201.8deg [env.py: 1019] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72213547 0.0492688 0.07586318] yaw=139.9deg [env.py: 1019] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:39:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.4ms, total=126.4ms [env.py: 1075] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.655, 0.076) [env.py: 1079] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg [env.py: 1082] +05/12 15:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m [env.py: 1086] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:39:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:39:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:39:27 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 15:39:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 15:39:27 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 15:39:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:39:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:39:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:39:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.414[m] 78.346[deg] [grasp_sample.py: 539] +05/12 15:39:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:39:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:39:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:39:37 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:39:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:39:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:40:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:40:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:40:06 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:40:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:40:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:40:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:40:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:40:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:40:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:40:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:40:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:40:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 17.54s (batch: 4.63s, save: 12.92s) [pipeline.py: 300] +05/12 15:40:24 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s: + episode_total: mean=188.58s, total=188.58s, count=1, min=188583.3ms, max=188583.3ms + sensor_polling: mean=425.5ms, total=127.64s, count=300, min=371.5ms, max=712.7ms + save_trajectories: mean=12.92s, total=12.92s, count=1, min=12918.9ms, max=12918.9ms + physics_step: mean=27.6ms, total=8.27s, count=300, min=22.2ms, max=39.9ms + save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4625.6ms, max=4625.6ms + task_sampling: mean=467.3ms, total=467.3ms, count=1, min=467.3ms, max=467.3ms + task_specific_sample: mean=461.8ms, total=461.8ms, count=1, min=461.8ms, max=461.8ms + scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + mj_forward_sync: mean=741.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=30.7us, 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 15:40:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:40:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:40:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:40:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:40:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:40:26 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 15:40:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:40:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039855m [env.py: 870] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:40:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63279351 0.35938214 0.03985495] yaw=141.4deg [env.py: 1019] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81820711 0.09265017 0.03985495] yaw=187.9deg [env.py: 1019] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86516495 0.71438663 0.03985495] yaw=-188.2deg [env.py: 1019] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:40:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=246.1ms, total=246.1ms [env.py: 1075] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.359, 0.040) [env.py: 1079] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.4 deg [env.py: 1082] +05/12 15:40:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:40:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:40:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:40:27 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 15:40:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s [base_object_manipulation_planner_policy.py: 377] +05/12 15:40:27 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 15:40:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:40:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:40:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.936s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:40:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.717[m] 91.054[deg] [grasp_sample.py: 539] +05/12 15:40:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:40:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:40:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:41:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:41:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:41:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:41:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:41:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:41:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:41:37 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:41:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:41:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:41:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:41:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.35s (batch: 4.22s, save: 12.14s) [pipeline.py: 300] +05/12 15:41:47 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.85s: + episode_total: mean=137.34s, total=274.67s, count=2, min=88832.2ms, max=185840.8ms + sensor_polling: mean=431.3ms, total=195.81s, count=454, min=381.3ms, max=843.7ms + save_trajectories: mean=12.14s, total=12.14s, count=1, min=12137.2ms, max=12137.2ms + physics_step: mean=25.8ms, total=11.69s, count=454, min=21.4ms, max=40.1ms + save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4215.5ms, max=4215.5ms + task_sampling: mean=424.4ms, total=848.8ms, count=2, min=353.9ms, max=494.9ms + task_specific_sample: mean=420.0ms, total=840.0ms, count=2, min=349.0ms, max=491.0ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.2ms, max=2.5ms + mj_forward_sync: mean=457.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:41:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:41:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:41:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:41:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:41:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:41:48 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 15:41:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:41:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001006m [env.py: 870] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:41:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-9.28805174e-01 1.05048824e+00 1.00644573e-03] yaw=-165.0deg [env.py: 1019] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93342604 0.7153407 0.00100645] yaw=-165.6deg [env.py: 1019] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:41:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.7ms, total=254.7ms [env.py: 1075] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.050, 0.001) [env.py: 1079] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.0 deg [env.py: 1082] +05/12 15:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:41:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:41:49 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 15:41:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 15:41:49 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 15:41:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:41:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:41:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.992s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:41:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.581[m] 91.800[deg] [grasp_sample.py: 539] +05/12 15:41:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:41:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:41:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:41:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:41:54 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:41:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:41:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:02 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:42:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:42:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:42:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:42:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:42:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:42:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:42:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 15:42:08 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.654s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:42:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.028[m] 0.489[deg] [grasp_sample.py: 539] +05/12 15:42:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:42:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:42:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:42:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:42:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:42:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:42:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.12s (batch: 3.94s, save: 11.18s) [pipeline.py: 300] +05/12 15:42:18 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s: + episode_total: mean=181.52s, total=181.52s, count=1, min=181522.2ms, max=181522.2ms + sensor_polling: mean=423.5ms, total=127.04s, count=300, min=375.7ms, max=789.2ms + save_trajectories: mean=11.18s, total=11.18s, count=1, min=11178.6ms, max=11178.6ms + physics_step: mean=25.6ms, total=7.68s, count=300, min=21.8ms, max=67.7ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3944.8ms, max=3944.8ms + task_sampling: mean=402.6ms, total=402.6ms, count=1, min=402.6ms, max=402.6ms + task_specific_sample: mean=398.7ms, total=398.7ms, count=1, min=398.7ms, max=398.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=465.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=43.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:42:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:42:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:42:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:42:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:42:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:42:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:42:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030222m [env.py: 870] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:42:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80748686 0.29499072 0.03022177] yaw=171.4deg [env.py: 1019] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91622727 1.05083113 0.03022177] yaw=-123.4deg [env.py: 1019] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:42:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=206.4ms, total=206.5ms [env.py: 1075] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.295, 0.030) [env.py: 1079] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg [env.py: 1082] +05/12 15:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:42:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:42:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:42:20 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 15:42:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/12 15:42:20 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 15:42:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:42:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:42:20 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:42:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:42:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:42:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.779s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:42:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.441[m] 83.161[deg] [grasp_sample.py: 539] +05/12 15:42:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:42:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:42:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:42:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:42:22 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 15:42:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:42:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:42:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.24s (batch: 3.80s, save: 12.44s) [pipeline.py: 300] +05/12 15:42:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s: + episode_total: mean=190.19s, total=190.19s, count=1, min=190193.6ms, max=190193.6ms + sensor_polling: mean=442.6ms, total=132.78s, count=300, min=371.3ms, max=779.2ms + save_trajectories: mean=12.44s, total=12.44s, count=1, min=12439.2ms, max=12439.2ms + physics_step: mean=27.0ms, total=8.09s, count=300, min=17.5ms, max=61.6ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3801.3ms, max=3801.3ms + task_sampling: mean=498.9ms, total=498.9ms, count=1, min=498.9ms, max=498.9ms + task_specific_sample: mean=494.2ms, total=494.2ms, count=1, min=494.2ms, max=494.2ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=512.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=33.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:42:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:42:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:42:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:42:38 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 15:42:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:42:38 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 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071791m [env.py: 870] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:42:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96244262 0.87403493 0.07179087] yaw=-143.4deg [env.py: 1019] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99374917 0.92386663 0.07179087] yaw=-181.6deg [env.py: 1019] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81225185 0.73016903 0.07179087] yaw=-144.5deg [env.py: 1019] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:42:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.6ms, total=194.7ms [env.py: 1075] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.874, 0.072) [env.py: 1079] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg [env.py: 1082] +05/12 15:42:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m [env.py: 1086] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:42:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:42:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:42:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 15:42:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 15:42:39 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 15:42:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:42:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.138s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:42:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.370[m] 85.593[deg] [grasp_sample.py: 539] +05/12 15:42:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:42:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:42:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:42:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:42:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:42:41 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 15:42:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:42:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 15:42:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:42:46 INFO: [Worker 0] Feasibility-checked 74 grasps in 4.087s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:42:46 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.620[deg] [grasp_sample.py: 539] +05/12 15:42:47 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:42:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:42:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:42:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:42:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:42:48 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 15:42:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:42:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030108m [env.py: 870] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:42:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90112276 0.52183297 0.03010848] yaw=-141.5deg [env.py: 1019] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85387792 1.11300836 0.03010848] yaw=-130.6deg [env.py: 1019] +05/12 15:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00104313 1.18152851 0.03010848] yaw=-166.0deg [env.py: 1019] +05/12 15:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:42:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.4ms, total=130.4ms [env.py: 1075] +05/12 15:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.522, 0.030) [env.py: 1079] +05/12 15:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg [env.py: 1082] +05/12 15:42:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/12 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:42:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:42:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:42:49 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 15:42:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 15:42:49 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 15:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:42:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:42:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 88.151[deg] [grasp_sample.py: 539] +05/12 15:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:42:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:42:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:42:51 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 15:42:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:42:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:43:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:43:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:43:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:43:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:43:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:43:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:43:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:43:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:43:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:44:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:44:17 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 15:44:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:44:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:44:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.762s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:44:19 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 6.861[deg] [grasp_sample.py: 539] +05/12 15:44:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:44:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:44:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:44:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:33 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:44:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:44:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:44:39 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 15:44:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:44:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:44:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.749s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:44:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.703[deg] [grasp_sample.py: 539] +05/12 15:44:41 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:44:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:44:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:44:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:44:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:44:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:44:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:44:43 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 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081188m [env.py: 870] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:44:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75083539 0.67307399 0.08118836] yaw=-178.1deg [env.py: 1019] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81494106 0.52421053 0.08118836] yaw=-148.9deg [env.py: 1019] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86201344 0.10868594 0.08118836] yaw=140.2deg [env.py: 1019] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:44:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=118.6ms, total=118.6ms [env.py: 1075] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.673, 0.081) [env.py: 1079] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg [env.py: 1082] +05/12 15:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:44:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:44:44 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 15:44:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 15:44:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:44:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:44:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:44:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.977s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:44:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 90.827[deg] [grasp_sample.py: 539] +05/12 15:44:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:44:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:44:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:44:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:45:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:45:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:45:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:45:02 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:45:06 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:45:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:45:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:45:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.25s (batch: 4.54s, save: 11.71s) [pipeline.py: 300] +05/12 15:45:17 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.58s: + episode_total: mean=209.11s, total=209.11s, count=1, min=209105.3ms, max=209105.3ms + sensor_polling: mean=450.0ms, total=135.00s, count=300, min=393.0ms, max=821.3ms + save_trajectories: mean=11.71s, total=11.71s, count=1, min=11705.5ms, max=11705.5ms + physics_step: mean=27.8ms, total=8.34s, count=300, min=17.3ms, max=37.0ms + save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4544.1ms, max=4544.1ms + task_sampling: mean=583.4ms, total=583.4ms, count=1, min=583.4ms, max=583.4ms + task_specific_sample: mean=579.7ms, total=579.7ms, count=1, min=579.7ms, max=579.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:45:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:45:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021808m [env.py: 870] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05521234 1.07644072 0.02180754] yaw=-165.7deg [env.py: 1019] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90633325 0.79597989 0.02180754] yaw=-152.9deg [env.py: 1019] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms [env.py: 1075] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.076, 0.022) [env.py: 1079] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.7 deg [env.py: 1082] +05/12 15:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:45:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:45:19 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 15:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 15:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:45:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:45:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:45:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.033s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:45:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 93.677[deg] [grasp_sample.py: 539] +05/12 15:45:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:45:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:45:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:45:28 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:45:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:45:28 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/12 15:45:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:45:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:45:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:45:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:45:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:45:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:45:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:45:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.57s (batch: 3.76s, save: 10.81s) [pipeline.py: 300] +05/12 15:45:44 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s: + episode_total: mean=185.27s, total=185.27s, count=1, min=185274.0ms, max=185274.0ms + sensor_polling: mean=441.2ms, total=130.59s, count=296, min=377.9ms, max=800.5ms + save_trajectories: mean=10.81s, total=10.81s, count=1, min=10812.9ms, max=10812.9ms + physics_step: mean=28.6ms, total=8.47s, count=296, min=22.5ms, max=34.4ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3760.5ms, max=3760.5ms + task_sampling: mean=542.8ms, total=542.8ms, count=1, min=542.8ms, max=542.8ms + task_specific_sample: mean=538.0ms, total=538.0ms, count=1, min=538.0ms, max=538.0ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=613.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=38.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:45:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:45:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:45:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:45:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:45:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:45:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:45:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022634m [env.py: 870] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:45:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96785897 0.31567424 0.02263369] yaw=146.1deg [env.py: 1019] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78795815 1.02609242 0.02263369] yaw=-130.4deg [env.py: 1019] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66848055 0.3678888 0.02263369] yaw=184.6deg [env.py: 1019] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:45:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.9ms [env.py: 1075] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, 0.316, 0.023) [env.py: 1079] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.1 deg [env.py: 1082] +05/12 15:45:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m [env.py: 1086] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:45:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:45:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:45:45 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 15:45:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 15:45:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:45:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:45:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:45:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:45:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.793s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:45:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.349[m] 91.472[deg] [grasp_sample.py: 539] +05/12 15:45:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:45:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:45:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:45:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:45:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:45:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:45:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.46s (batch: 4.05s, save: 12.42s) [pipeline.py: 300] +05/12 15:45:53 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.03s: + episode_total: mean=162.51s, total=325.02s, count=2, min=140834.2ms, max=184182.1ms + sensor_polling: mean=415.9ms, total=224.58s, count=540, min=363.7ms, max=797.5ms + physics_step: mean=25.6ms, total=13.81s, count=540, min=15.7ms, max=36.2ms + save_trajectories: mean=12.42s, total=12.42s, count=1, min=12415.2ms, max=12415.2ms + save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4046.4ms, max=4046.4ms + task_sampling: mean=512.5ms, total=1.03s, count=2, min=425.9ms, max=599.1ms + task_specific_sample: mean=507.7ms, total=1.02s, count=2, min=421.9ms, max=593.6ms + scene_randomize: mean=2.8ms, total=5.6ms, count=2, min=1.9ms, max=3.7ms + mj_forward_sync: mean=613.1us, total=1.2ms, count=2, min=0.4ms, max=0.8ms + policy_setup: mean=27.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:45:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:45:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:45:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:45:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:45:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:45:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:45:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078206m [env.py: 870] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:45:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95580421 0.36376302 0.07820623] yaw=159.3deg [env.py: 1019] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01369799 0.77925502 0.07820623] yaw=-153.2deg [env.py: 1019] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79224221 1.06482757 0.07820623] yaw=-169.0deg [env.py: 1019] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:45:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.8ms, total=231.8ms [env.py: 1075] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.364, 0.078) [env.py: 1079] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg [env.py: 1082] +05/12 15:45:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m [env.py: 1086] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:45:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:45:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:45:55 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 15:45:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 15:45:55 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 15:45:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:45:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:45:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.837s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:45:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.346[m] 90.574[deg] [grasp_sample.py: 539] +05/12 15:45:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:45:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:45:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:46:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:46:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:46:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:46:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:46:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:46:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:46:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:46:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:46:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:03 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:47:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:47:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:47:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:47:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.684s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:47:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.435[deg] [grasp_sample.py: 539] +05/12 15:47:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:47:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:47:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:47:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:47:25 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 15:47:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:47:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:47:26 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.628s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:47:26 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.897[deg] [grasp_sample.py: 539] +05/12 15:47:27 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:47:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:47:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:47:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:47:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:47:29 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 15:47:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:47:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075939m [env.py: 870] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:47:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0506291 0.93982203 0.07593892] yaw=-119.0deg [env.py: 1019] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90852381 0.34937778 0.07593892] yaw=194.2deg [env.py: 1019] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96284392 0.11140982 0.07593892] yaw=187.2deg [env.py: 1019] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:47:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=128.2ms, total=128.2ms [env.py: 1075] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.940, 0.076) [env.py: 1079] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.0 deg [env.py: 1082] +05/12 15:47:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m [env.py: 1086] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:47:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:47:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:47:29 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 15:47:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/12 15:47:29 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 15:47:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:47:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:47:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:47:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.024s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:47:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 99.536[deg] [grasp_sample.py: 539] +05/12 15:47:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:47:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:47:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:47:32 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:47:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:47:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:47:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:47:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:47:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:47:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:47:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:47:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:47:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.704s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:47:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.110[m] 0.934[deg] [grasp_sample.py: 539] +05/12 15:47:48 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:47:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:47:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:47:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.32s (batch: 4.45s, save: 11.88s) [pipeline.py: 300] +05/12 15:47:49 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.99s: + episode_total: mean=163.92s, total=327.83s, count=2, min=142468.1ms, max=185366.1ms + sensor_polling: mean=433.3ms, total=237.01s, count=547, min=370.8ms, max=837.6ms + physics_step: mean=27.2ms, total=14.86s, count=547, min=18.2ms, max=71.9ms + save_trajectories: mean=11.88s, total=11.88s, count=1, min=11876.2ms, max=11876.2ms + save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4448.6ms, max=4448.6ms + task_sampling: mean=496.3ms, total=992.6ms, count=2, min=395.7ms, max=596.8ms + task_specific_sample: mean=491.9ms, total=983.9ms, count=2, min=392.2ms, max=591.6ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.5ms, max=3.3ms + mj_forward_sync: mean=628.8us, total=1.3ms, count=2, min=0.5ms, max=0.8ms + policy_setup: mean=29.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:47:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:47:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:47:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:47:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:47:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:47:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:47:49 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 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073473m [env.py: 870] +05/12 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:47:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99888833 0.89650371 0.07347253] yaw=-113.2deg [env.py: 1019] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98045334 1.20115045 0.07347253] yaw=-143.1deg [env.py: 1019] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:47:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.1ms, total=242.2ms [env.py: 1075] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.897, 0.073) [env.py: 1079] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.2 deg [env.py: 1082] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:47:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:47:50 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 15:47:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 15:47:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:47:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:47:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:47:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:47:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:47:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:47:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:47:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:47:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:47:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077666m [env.py: 870] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:47:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09980227 1.0550973 0.07766614] yaw=-169.7deg [env.py: 1019] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90772549 0.79778419 0.07766614] yaw=-164.7deg [env.py: 1019] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79177134 0.09243873 0.07766614] yaw=138.4deg [env.py: 1019] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:47:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.0ms, total=126.0ms [env.py: 1075] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.055, 0.078) [env.py: 1079] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg [env.py: 1082] +05/12 15:47:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:47:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:47:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:47:51 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 15:47:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/12 15:47:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:47:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:47:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:47:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.024s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:47:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 92.062[deg] [grasp_sample.py: 539] +05/12 15:47:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:47:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:47:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:47:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:47:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.529[m] 91.710[deg] [grasp_sample.py: 539] +05/12 15:47:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:47:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:47:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:48:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:48:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:48:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:48:29 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:48:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:48:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:48:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:48:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:48:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:48:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:48:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:48:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:48:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:49:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:49:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:49:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.68s (batch: 3.70s, save: 10.98s) [pipeline.py: 300] +05/12 15:49:11 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s: + episode_total: mean=206.06s, total=206.06s, count=1, min=206062.4ms, max=206062.4ms + sensor_polling: mean=440.7ms, total=132.21s, count=300, min=379.4ms, max=823.6ms + save_trajectories: mean=10.98s, total=10.98s, count=1, min=10975.0ms, max=10975.0ms + physics_step: mean=28.2ms, total=8.45s, count=300, min=14.7ms, max=90.0ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3700.2ms, max=3700.2ms + task_sampling: mean=396.2ms, total=396.2ms, count=1, min=396.2ms, max=396.2ms + task_specific_sample: mean=392.0ms, total=392.0ms, count=1, min=392.0ms, max=392.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:49:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:49:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:49:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:49:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:49:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:49:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:49:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019564m [env.py: 870] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:49:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76715635 0.04596968 0.01956383] yaw=178.2deg [env.py: 1019] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65551755 0.71677919 0.01956383] yaw=-139.6deg [env.py: 1019] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09621763 1.19569508 0.01956383] yaw=-92.4deg [env.py: 1019] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:49:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.5ms, total=119.6ms [env.py: 1075] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.046, 0.020) [env.py: 1079] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.2 deg [env.py: 1082] +05/12 15:49:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:49:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:49:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:49:13 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 15:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 15:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:49:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.638s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:49:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.638[m] 87.853[deg] [grasp_sample.py: 539] +05/12 15:49:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:49:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:49:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:49:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:49:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:50:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:50:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:50:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:50:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:50:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:50:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:50:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.678s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:50:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.775[deg] [grasp_sample.py: 539] +05/12 15:50:19 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:50:19 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:50:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:50:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:50:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:50:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:50:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:50:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:50:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039800m [env.py: 870] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:50:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75186809 0.11090768 0.03980007] yaw=141.7deg [env.py: 1019] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97913769 0.84505498 0.03980007] yaw=-172.2deg [env.py: 1019] +05/12 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:50:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=316.8ms, total=316.9ms [env.py: 1075] +05/12 15:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.111, 0.040) [env.py: 1079] +05/12 15:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.7 deg [env.py: 1082] +05/12 15:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/12 15:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:50:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:50:22 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 15:50:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 15:50:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:50:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:50:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:50:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:50:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:50:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:50:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.553s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:50:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.625[m] 88.461[deg] [grasp_sample.py: 539] +05/12 15:50:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:50:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:50:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:50:26 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 15:50:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:50:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:50:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:50:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:50:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.74s (batch: 4.76s, save: 11.98s) [pipeline.py: 300] +05/12 15:50:41 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.99s: + episode_total: mean=142.48s, total=284.97s, count=2, min=92985.5ms, max=191981.8ms + sensor_polling: mean=446.6ms, total=205.01s, count=459, min=367.0ms, max=834.6ms + physics_step: mean=28.2ms, total=12.96s, count=459, min=16.9ms, max=39.2ms + save_trajectories: mean=11.98s, total=11.98s, count=1, min=11982.7ms, max=11982.7ms + save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4760.6ms, max=4760.6ms + task_sampling: mean=494.5ms, total=989.1ms, count=2, min=406.8ms, max=582.2ms + task_specific_sample: mean=489.9ms, total=979.9ms, count=2, min=401.7ms, max=578.2ms + scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=2.1ms, max=2.6ms + mj_forward_sync: mean=520.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=23.6us, 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 15:50:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:50:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:50:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:50:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:50:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:50:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:50:42 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 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073442m [env.py: 870] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:50:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02120142 1.12758319 0.07344165] yaw=-160.8deg [env.py: 1019] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69178603 0.46870408 0.07344165] yaw=218.3deg [env.py: 1019] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:50:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.1ms [env.py: 1075] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.021, 1.128, 0.073) [env.py: 1079] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.8 deg [env.py: 1082] +05/12 15:50:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:50:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:50:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:50:43 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 15:50:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 15:50:43 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 15:50:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:50:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:50:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.183s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:50:47 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.587[m] 98.827[deg] [grasp_sample.py: 539] +05/12 15:50:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:50:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:50:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:50:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:50:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:50:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:51:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:51:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:51:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.68s (batch: 4.20s, save: 11.47s) [pipeline.py: 300] +05/12 15:51:04 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.05s: + episode_total: mean=171.73s, total=343.46s, count=2, min=149028.9ms, max=194434.7ms + sensor_polling: mean=446.4ms, total=258.94s, count=580, min=386.2ms, max=871.4ms + physics_step: mean=26.8ms, total=15.52s, count=580, min=21.5ms, max=36.3ms + save_trajectories: mean=11.47s, total=11.47s, count=1, min=11472.9ms, max=11472.9ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4202.9ms, max=4202.9ms + task_sampling: mean=523.5ms, total=1.05s, count=2, min=515.3ms, max=531.7ms + task_specific_sample: mean=520.0ms, total=1.04s, count=2, min=512.0ms, max=528.0ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.4ms + mj_forward_sync: mean=453.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:51:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:51:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:51:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:51:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:51:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:51:05 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 15:51:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:51:05 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 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004899m [env.py: 870] +05/12 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:51:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:51:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78532934 1.03250619 0.00489853] yaw=-168.9deg [env.py: 1019] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00408217 0.96076363 0.00489853] yaw=-146.7deg [env.py: 1019] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83921092 0.22530709 0.00489853] yaw=197.5deg [env.py: 1019] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:51:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.6ms, total=128.6ms [env.py: 1075] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 1.033, 0.005) [env.py: 1079] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg [env.py: 1082] +05/12 15:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m [env.py: 1086] +05/12 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:51:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:51:06 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 15:51:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 15:51:06 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 15:51:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:51:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:51:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.905s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:51:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.680[m] 89.933[deg] [grasp_sample.py: 539] +05/12 15:51:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:51:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:51:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:51:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:51:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:51:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:51:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:51:41 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:51:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:51:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:52:10 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:52:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:52:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:52:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:52:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:52:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:52:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:52:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.90s (batch: 3.97s, save: 10.93s) [pipeline.py: 300] +05/12 15:52:25 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s: + episode_total: mean=192.68s, total=192.68s, count=1, min=192683.0ms, max=192683.0ms + sensor_polling: mean=447.4ms, total=134.23s, count=300, min=378.7ms, max=855.2ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10929.2ms, max=10929.2ms + physics_step: mean=27.6ms, total=8.28s, count=300, min=21.5ms, max=40.2ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3966.3ms, max=3966.3ms + task_sampling: mean=473.1ms, total=473.1ms, count=1, min=473.1ms, max=473.1ms + task_specific_sample: mean=467.7ms, total=467.7ms, count=1, min=467.7ms, max=467.7ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=689.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=28.2us, 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 15:52:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:52:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:52:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:52:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:52:27 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 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050328m [env.py: 870] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:52:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9312321 0.53775297 0.05032837] yaw=-137.6deg [env.py: 1019] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89186697 0.54596946 0.05032837] yaw=-183.7deg [env.py: 1019] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93402822 0.83545202 0.05032837] yaw=-164.6deg [env.py: 1019] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:52:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.5ms [env.py: 1075] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.538, 0.050) [env.py: 1079] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg [env.py: 1082] +05/12 15:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m [env.py: 1086] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:52:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:52:27 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 15:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 15:52:27 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 15:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.985s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:52:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.423[m] 82.161[deg] [grasp_sample.py: 539] +05/12 15:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:52:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:52:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:52:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:52:53 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:52:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:52:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:53:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:53:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:53:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:53:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:53:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:53:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/12 15:53:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:53:07 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.605s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:53:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.055[m] 10.495[deg] [grasp_sample.py: 539] +05/12 15:53:09 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 15:53:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:53:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:53:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:53:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:53:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:53:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:53:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:53:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026824m [env.py: 870] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:53:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95570265 0.55750774 0.02682362] yaw=-210.5deg [env.py: 1019] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93427314 0.86799993 0.02682362] yaw=-123.2deg [env.py: 1019] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:53:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=218.1ms, total=218.1ms [env.py: 1075] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.558, 0.027) [env.py: 1079] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -210.5 deg [env.py: 1082] +05/12 15:53:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m [env.py: 1086] +05/12 15:53:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:53:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:53:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:53:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:53:11 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 15:53:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/12 15:53:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:53:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:53:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:53:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.827s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:53:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.432[m] 94.151[deg] [grasp_sample.py: 539] +05/12 15:53:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:53:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:53:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:53:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:53:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:53:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:53:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:53:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:53:35 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:53:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:53:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:53:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.07s (batch: 4.44s, save: 10.63s) [pipeline.py: 300] +05/12 15:53:39 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.11s: + episode_total: mean=173.39s, total=346.78s, count=2, min=149163.1ms, max=197621.2ms + sensor_polling: mean=442.1ms, total=256.43s, count=580, min=373.9ms, max=927.5ms + physics_step: mean=27.9ms, total=16.15s, count=580, min=17.6ms, max=65.4ms + save_trajectories: mean=10.63s, total=10.63s, count=1, min=10626.4ms, max=10626.4ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4440.4ms, max=4440.4ms + task_sampling: mean=552.9ms, total=1.11s, count=2, min=483.7ms, max=622.1ms + task_specific_sample: mean=548.9ms, total=1.10s, count=2, min=479.1ms, max=618.7ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms + mj_forward_sync: mean=528.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=28.0us, 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 15:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:53:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:53:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:53:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:53:40 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 15:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:53:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037093m [env.py: 870] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=204.0ms, total=204.1ms [env.py: 1105] +05/12 15:53:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/12 15:53:41 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/12 15:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:53:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:53:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:53:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:53:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:53:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036988m [env.py: 870] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61901332 0.47525186 0.03698754] yaw=210.9deg [env.py: 1019] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77193686 0.13311746 0.03698754] yaw=149.8deg [env.py: 1019] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6831846 0.19141164 0.03698754] yaw=188.2deg [env.py: 1019] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms [env.py: 1075] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.619, 0.475, 0.037) [env.py: 1079] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 210.9 deg [env.py: 1082] +05/12 15:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:53:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:53:43 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 15:53:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 15:53:43 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 15:53:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:53:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:53:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.521s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:53:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.704[m] 78.880[deg] [grasp_sample.py: 539] +05/12 15:53:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:53:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:53:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:53:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:53:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:54:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:54:02 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:54:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 15:54:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:54:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:54:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:54:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:54:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.76s (batch: 3.60s, save: 11.16s) [pipeline.py: 300] +05/12 15:54:17 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s: + episode_total: mean=192.04s, total=192.04s, count=1, min=192043.5ms, max=192043.5ms + sensor_polling: mean=447.5ms, total=134.24s, count=300, min=386.7ms, max=978.3ms + save_trajectories: mean=11.16s, total=11.16s, count=1, min=11159.3ms, max=11159.3ms + physics_step: mean=27.6ms, total=8.27s, count=300, min=21.5ms, max=42.5ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3595.9ms, max=3595.9ms + task_sampling: mean=444.3ms, total=444.3ms, count=1, min=444.3ms, max=444.3ms + task_specific_sample: mean=440.4ms, total=440.4ms, count=1, min=440.4ms, max=440.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=468.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=40.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:54:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:54:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:54:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:54:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:54:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:54:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:54:19 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 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020885m [env.py: 870] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:54:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8536498 1.09687245 0.02088518] yaw=-175.6deg [env.py: 1019] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16821597 1.04415265 0.02088518] yaw=-110.1deg [env.py: 1019] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69111801 0.3987563 0.02088518] yaw=176.1deg [env.py: 1019] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:54:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=116.8ms, total=116.8ms [env.py: 1075] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 1.097, 0.021) [env.py: 1079] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.6 deg [env.py: 1082] +05/12 15:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m [env.py: 1086] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:54:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:54:19 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 15:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 15:54:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:54:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:54:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.670s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:54:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.694[m] 85.080[deg] [grasp_sample.py: 539] +05/12 15:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:54:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:54:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:54:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:54:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:54:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 15:54:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:54:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.159[deg] [grasp_sample.py: 539] +05/12 15:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:54:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:55:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:55:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:55:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:55:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:55:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:55:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:55:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:55:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:55:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:55:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:55:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:55:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:55:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:55:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:55:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:55:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.06s (batch: 3.95s, save: 11.12s) [pipeline.py: 300] +05/12 15:55:45 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.48s: + episode_total: mean=198.63s, total=198.63s, count=1, min=198634.6ms, max=198634.6ms + sensor_polling: mean=430.9ms, total=129.27s, count=300, min=372.3ms, max=823.4ms + save_trajectories: mean=11.12s, total=11.12s, count=1, min=11117.3ms, max=11117.3ms + physics_step: mean=27.2ms, total=8.17s, count=300, min=17.3ms, max=39.5ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3946.2ms, max=3946.2ms + task_sampling: mean=480.1ms, total=480.1ms, count=1, min=480.1ms, max=480.1ms + task_specific_sample: mean=475.8ms, total=475.8ms, count=1, min=475.8ms, max=475.8ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=458.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:55:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:55:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:55:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:55:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:55:47 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 15:55:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:55:47 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 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059090m [env.py: 870] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:55:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81543928 0.35967957 0.0590895 ] yaw=155.9deg [env.py: 1019] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92894595 0.92675012 0.0590895 ] yaw=-151.0deg [env.py: 1019] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92375748 0.89391952 0.0590895 ] yaw=-138.4deg [env.py: 1019] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:55:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.3ms [env.py: 1075] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.360, 0.059) [env.py: 1079] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.9 deg [env.py: 1082] +05/12 15:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:55:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:55:47 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 15:55:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 15:55:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:55:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:55:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:55:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.978s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:55:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.505[m] 97.457[deg] [grasp_sample.py: 539] +05/12 15:55:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:55:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:55:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:55:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:55:59 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:56:05 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:29 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:56:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:56:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:56:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:31 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:56:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:56:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:56:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:56:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:56:31 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 15:56:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:56:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 15:56:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.750s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:56:34 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.037[m] 7.068[deg] [grasp_sample.py: 539] +05/12 15:56:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:56:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:56:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:56:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:56:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:56:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:56:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:56:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:56:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.67s (batch: 4.45s, save: 11.22s) [pipeline.py: 300] +05/12 15:56:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:56:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:56:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.58s (batch: 3.49s, save: 11.09s) [pipeline.py: 300] +05/12 15:56:45 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.06s: + episode_total: mean=180.73s, total=361.46s, count=2, min=146653.1ms, max=214805.1ms + sensor_polling: mean=432.3ms, total=247.68s, count=573, min=374.1ms, max=792.4ms + physics_step: mean=27.0ms, total=15.49s, count=573, min=16.8ms, max=39.5ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11219.1ms, max=11219.1ms + save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.1ms, max=4452.1ms + task_sampling: mean=529.3ms, total=1.06s, count=2, min=515.6ms, max=543.0ms + task_specific_sample: mean=525.4ms, total=1.05s, count=2, min=511.8ms, max=539.1ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.9ms, max=2.4ms + mj_forward_sync: mean=543.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + 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 15:56:46 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s: + episode_total: mean=91.92s, total=183.85s, count=2, min=216.4ms, max=183630.1ms + sensor_polling: mean=428.0ms, total=128.41s, count=300, min=365.9ms, max=806.4ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11090.8ms, max=11090.8ms + physics_step: mean=26.3ms, total=7.90s, count=300, min=21.6ms, max=40.1ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3490.4ms, max=3490.4ms + task_specific_sample: mean=334.9ms, total=669.8ms, count=2, min=210.6ms, max=459.1ms + task_sampling: mean=461.9ms, total=461.9ms, count=1, min=461.9ms, max=461.9ms + task_sampling_failed: mean=216.3ms, total=216.3ms, count=1, min=216.3ms, max=216.3ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms + mj_forward_sync: mean=460.7us, total=0.9ms, count=2, 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=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:56:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:56:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:56:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:56:47 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 15:56:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:56:47 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 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026432m [env.py: 870] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:56:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92027668 1.25315118 0.02643185] yaw=-100.2deg [env.py: 1019] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88818219 0.71489056 0.02643185] yaw=-124.1deg [env.py: 1019] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:56:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.0ms, total=215.0ms [env.py: 1075] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 1.253, 0.026) [env.py: 1079] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.2 deg [env.py: 1082] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:56:47 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 15:56:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:56:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:56:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:56:47 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 15:56:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:56:47 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 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075071m [env.py: 870] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:56:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:56:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 15:56:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:56:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86503703 0.98758165 0.07507077] yaw=-135.7deg [env.py: 1019] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:56:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83920109 0.99638151 0.07507077] yaw=-140.0deg [env.py: 1019] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64959993 0.22906775 0.07507077] yaw=133.8deg [env.py: 1019] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:56:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms [env.py: 1075] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.865, 0.988, 0.075) [env.py: 1079] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg [env.py: 1082] +05/12 15:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:56:48 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 15:56:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 15:56:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:56:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:56:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:56:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:56:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.829s, found feasible grasp: False [grasp_sample.py: 500] +05/12 15:56:50 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 15:56:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.833s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:56:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 82.431[deg] [grasp_sample.py: 539] +05/12 15:56:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:56:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:56:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:56:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:56:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:56:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:56:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:56:52 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 15:56:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:56:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078125m [env.py: 870] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:56:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94456218 1.2703161 0.07812515] yaw=-160.0deg [env.py: 1019] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 131.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96156911 1.22681979 0.07812515] yaw=-133.4deg [env.py: 1019] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90446561 0.67576888 0.07812515] yaw=-130.8deg [env.py: 1019] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:56:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.1ms, total=162.1ms [env.py: 1075] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.270, 0.078) [env.py: 1079] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.0 deg [env.py: 1082] +05/12 15:56:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:56:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 15:56:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/12 15:56:52 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 15:56:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:56:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.661s, found feasible grasp: False [grasp_sample.py: 500] +05/12 15:56:55 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 15:56:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:56:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:56:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:56:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:56:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:56:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017775m [env.py: 870] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:56:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85464224 0.62709335 0.0177747 ] yaw=-168.2deg [env.py: 1019] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05708345 0.95345542 0.0177747 ] yaw=-161.9deg [env.py: 1019] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:56:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=251.1ms, total=251.1ms [env.py: 1075] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.627, 0.018) [env.py: 1079] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg [env.py: 1082] +05/12 15:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:56:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:56:57 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 15:56:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 15:56:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:56:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:56:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:56:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.758s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:56:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 78.550[deg] [grasp_sample.py: 539] +05/12 15:56:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:56:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:56:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:56:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:57:00 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 15:57:00 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.42s: + episode_total: mean=160.89s, total=160.89s, count=1, min=160891.6ms, max=160891.6ms + sensor_polling: mean=442.3ms, total=132.70s, count=300, min=385.9ms, max=842.9ms + physics_step: mean=26.5ms, total=7.95s, count=300, min=16.1ms, max=75.2ms + task_sampling: mean=417.2ms, total=417.2ms, count=1, min=417.2ms, max=417.2ms + task_specific_sample: mean=413.4ms, total=413.4ms, count=1, min=413.4ms, max=413.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=485.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 15:57:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:57:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:57:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:57:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:57:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:57:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:57:01 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 15:57:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:57:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051261m [env.py: 870] +05/12 15:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:57:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01098446 1.19361952 0.05126059] yaw=-169.7deg [env.py: 1019] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15181338 1.14024543 0.05126059] yaw=-152.8deg [env.py: 1019] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93212348 1.1207446 0.05126059] yaw=-108.1deg [env.py: 1019] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=272.7ms, total=272.7ms [env.py: 1075] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.194, 0.051) [env.py: 1079] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg [env.py: 1082] +05/12 15:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 15:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:57:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:57:02 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 15:57:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/12 15:57:02 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 15:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:57:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.426s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:57:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.709[m] 88.965[deg] [grasp_sample.py: 539] +05/12 15:57:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:57:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:57:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:57:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:57:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:57:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:57:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:57:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:57:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:58:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:58:21 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:58:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:58:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:58:48 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 15:58:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 15:58:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:59:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:59:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:59:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.41s (batch: 3.93s, save: 10.48s) [pipeline.py: 300] +05/12 15:59:03 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s: + episode_total: mean=196.06s, total=196.06s, count=1, min=196064.8ms, max=196064.8ms + sensor_polling: mean=444.0ms, total=133.19s, count=300, min=380.0ms, max=775.8ms + save_trajectories: mean=10.48s, total=10.48s, count=1, min=10478.7ms, max=10478.7ms + physics_step: mean=27.7ms, total=8.32s, count=300, min=20.3ms, max=40.9ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3929.2ms, max=3929.2ms + task_sampling: mean=514.8ms, total=514.8ms, count=1, min=514.8ms, max=514.8ms + task_specific_sample: mean=510.8ms, total=510.8ms, count=1, min=510.8ms, max=510.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=483.3us, 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 15:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:59:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:59:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:59:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:59:05 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 15:59:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:59:05 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 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056870m [env.py: 870] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:59:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11922934 1.1683909 0.05686986] yaw=-169.0deg [env.py: 1019] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69700622 0.08763334 0.05686986] yaw=134.1deg [env.py: 1019] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17938992 1.06554074 0.05686986] yaw=-96.5deg [env.py: 1019] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:59:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.3ms, total=168.3ms [env.py: 1075] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.119, 1.168, 0.057) [env.py: 1079] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg [env.py: 1082] +05/12 15:59:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:59:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:59:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:59:05 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 15:59:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 15:59:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:59:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:59:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:59:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.613[m] 87.866[deg] [grasp_sample.py: 539] +05/12 15:59:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:59:07 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:59:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:59:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:59:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 15:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 15:59:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 15:59:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 15:59:16 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 15:59:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:59:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 15:59:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.638s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:59:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.188[deg] [grasp_sample.py: 539] +05/12 15:59:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:59:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:59:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:59:20 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 15:59:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:59:33 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:59:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 15:59:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 15:59:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 15:59:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 15:59:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 15:59:44 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.60s: + episode_total: mean=162.36s, total=162.36s, count=1, min=162355.4ms, max=162355.4ms + sensor_polling: mean=450.5ms, total=135.14s, count=300, min=388.6ms, max=840.9ms + physics_step: mean=26.5ms, total=7.94s, count=300, min=21.6ms, max=62.7ms + task_sampling: mean=595.6ms, total=595.6ms, count=1, min=595.6ms, max=595.6ms + task_specific_sample: mean=589.1ms, total=589.1ms, count=1, min=589.1ms, max=589.1ms + scene_randomize: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms + mj_forward_sync: mean=795.2us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=17.7us, 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 15:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:59:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:59:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:59:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:59:45 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 15:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073262m [env.py: 870] +05/12 15:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88052227 0.754028 0.07326229] yaw=-149.7deg [env.py: 1019] +05/12 15:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09578145 0.93303858 0.07326229] yaw=-111.3deg [env.py: 1019] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8743827 1.05619453 0.07326229] yaw=-124.0deg [env.py: 1019] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=116.0ms [env.py: 1075] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.754, 0.073) [env.py: 1079] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg [env.py: 1082] +05/12 15:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:59:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:59:46 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 15:59:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 15:59:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:59:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:59:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:59:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.774s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:59:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 87.092[deg] [grasp_sample.py: 539] +05/12 15:59:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:59:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 15:59:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 15:59:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.46s (batch: 3.92s, save: 10.54s) [pipeline.py: 300] +05/12 15:59:47 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 15:59:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 15:59:47 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/12 15:59:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:59:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:59:48 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.53s: + episode_total: mean=180.23s, total=180.23s, count=1, min=180226.7ms, max=180226.7ms + sensor_polling: mean=416.3ms, total=124.88s, count=300, min=373.6ms, max=838.0ms + save_trajectories: mean=10.54s, total=10.54s, count=1, min=10540.5ms, max=10540.5ms + physics_step: mean=25.5ms, total=7.64s, count=300, min=16.9ms, max=68.4ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3922.0ms, max=3922.0ms + task_sampling: mean=533.0ms, total=533.0ms, count=1, min=533.0ms, max=533.0ms + task_specific_sample: mean=528.8ms, total=528.8ms, count=1, min=528.8ms, max=528.8ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=647.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=33.2us, 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 15:59:48 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 15:59:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 15:59:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 15:59:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:59:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 15:59:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 15:59:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 15:59:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054269m [env.py: 870] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 15:59:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85285737 0.61054533 0.05426896] yaw=-180.4deg [env.py: 1019] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 15:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.2ms, total=207.2ms [env.py: 1075] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.611, 0.054) [env.py: 1079] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg [env.py: 1082] +05/12 15:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 15:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 15:59:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 15:59:50 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 15:59:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 15:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 15:59:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 15:59:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 15:59:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.807s, found feasible grasp: True [grasp_sample.py: 500] +05/12 15:59:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.435[m] 91.322[deg] [grasp_sample.py: 539] +05/12 15:59:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 15:59:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 15:59:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 15:59:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:00:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:00:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:00:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:00:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 17.58s (batch: 4.74s, save: 12.85s) [pipeline.py: 300] +05/12 16:00:06 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.50s: + episode_total: mean=65.26s, total=195.79s, count=3, min=3266.3ms, max=188921.2ms + sensor_polling: mean=436.1ms, total=128.64s, count=295, min=378.9ms, max=834.1ms + save_trajectories: mean=12.85s, total=12.85s, count=1, min=12845.6ms, max=12845.6ms + physics_step: mean=27.5ms, total=8.12s, count=295, min=21.7ms, max=152.0ms + save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4736.0ms, max=4736.0ms + task_sampling: mean=498.6ms, total=1.50s, count=3, min=450.0ms, max=538.0ms + task_specific_sample: mean=495.0ms, total=1.48s, count=3, min=446.8ms, max=534.1ms + scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.4ms, max=2.5ms + mj_forward_sync: mean=474.4us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=19.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:00:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:00:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:00:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:00:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:00:07 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 16:00:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:00:07 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 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009646m [env.py: 870] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:00:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7900803 0.76804561 0.00964578] yaw=-172.9deg [env.py: 1019] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97005632 1.13109846 0.00964578] yaw=-137.0deg [env.py: 1019] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67137971 0.5650385 0.00964578] yaw=-199.6deg [env.py: 1019] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:00:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.1ms, total=133.2ms [env.py: 1075] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.768, 0.010) [env.py: 1079] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg [env.py: 1082] +05/12 16:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:00:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:00:08 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 16:00:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 16:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:00:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:00:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:00:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:00:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.907s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:00:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.583[m] 102.420[deg] [grasp_sample.py: 539] +05/12 16:00:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:00:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:00:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:00:10 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 16:00:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:00:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:00:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:00:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:00:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:00:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:00:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:01:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:01:13 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 16:01:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:01:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:01:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:01:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.688s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:01:16 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.112[m] 11.425[deg] [grasp_sample.py: 539] +05/12 16:01:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:01:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:01:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:01:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:01:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:01:36 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 16:01:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:01:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:01:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.688s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:01:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.093[m] 16.207[deg] [grasp_sample.py: 539] +05/12 16:01:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:01:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:01:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:01:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:01:53 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 16:01:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:01:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:01:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:01:53 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.089[m] 15.582[deg] [grasp_sample.py: 539] +05/12 16:01:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:01:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:01:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:02:06 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:02:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:02:09 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 16:02:10 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 16:02:10 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.52s: + episode_total: mean=185.16s, total=185.16s, count=1, min=185158.4ms, max=185158.4ms + sensor_polling: mean=439.6ms, total=122.22s, count=278, min=370.7ms, max=829.5ms + physics_step: mean=27.4ms, total=7.61s, count=278, min=15.2ms, max=68.4ms + task_sampling: mean=518.7ms, total=518.7ms, count=1, min=518.7ms, max=518.7ms + task_specific_sample: mean=514.6ms, total=514.6ms, count=1, min=514.6ms, max=514.6ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=461.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.4us, 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 16:02:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:02:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:02:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:02:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:02:11 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 16:02:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:02:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053735m [env.py: 870] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:02:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83581748 0.46574793 0.05373456] yaw=197.2deg [env.py: 1019] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06941129 1.12839291 0.05373456] yaw=-122.0deg [env.py: 1019] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78123469 0.73890197 0.05373456] yaw=-160.7deg [env.py: 1019] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:02:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.8ms, total=116.8ms [env.py: 1075] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.466, 0.054) [env.py: 1079] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.2 deg [env.py: 1082] +05/12 16:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:02:12 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:02:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:02:12 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 16:02:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/12 16:02:12 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 16:02:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:02:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:02:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.848s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:02:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 85.973[deg] [grasp_sample.py: 539] +05/12 16:02:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:02:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:02:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:02:14 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 16:02:29 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:02:34 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 16:02:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:02:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:02:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:02:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:02:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:02:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:02:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:02:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.22s (batch: 4.37s, save: 10.84s) [pipeline.py: 300] +05/12 16:02:50 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s: + episode_total: mean=181.07s, total=181.07s, count=1, min=181068.4ms, max=181068.4ms + sensor_polling: mean=410.5ms, total=123.16s, count=300, min=379.9ms, max=912.7ms + save_trajectories: mean=10.84s, total=10.84s, count=1, min=10843.6ms, max=10843.6ms + physics_step: mean=26.2ms, total=7.85s, count=300, min=17.9ms, max=68.2ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.3ms, max=4373.3ms + task_sampling: mean=514.6ms, total=514.6ms, count=1, min=514.6ms, max=514.6ms + task_specific_sample: mean=510.8ms, total=510.8ms, count=1, min=510.8ms, max=510.8ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=451.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=31.2us, 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 16:02:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:02:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:02:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:02:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:02:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:02:52 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 16:02:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:02:52 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 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076881m [env.py: 870] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:02:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02744018 1.03360549 0.07688098] yaw=-169.2deg [env.py: 1019] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83199708 0.58103649 0.07688098] yaw=-134.7deg [env.py: 1019] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89575564 1.14053404 0.07688098] yaw=-178.1deg [env.py: 1019] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:02:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.8ms, total=135.9ms [env.py: 1075] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.027, 1.034, 0.077) [env.py: 1079] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.2 deg [env.py: 1082] +05/12 16:02:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:02:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:02:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:02:52 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 16:02:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 16:02:52 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 16:02:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:02:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:02:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.850s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:02:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.557[m] 88.648[deg] [grasp_sample.py: 539] +05/12 16:02:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:02:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:02:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:02:56 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 16:02:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:02:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:02:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:02:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:02:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.65s (batch: 4.50s, save: 12.14s) [pipeline.py: 300] +05/12 16:02:59 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s: + episode_total: mean=193.57s, total=193.57s, count=1, min=193573.9ms, max=193573.9ms + sensor_polling: mean=445.4ms, total=133.63s, count=300, min=387.4ms, max=835.5ms + save_trajectories: mean=12.14s, total=12.14s, count=1, min=12144.6ms, max=12144.6ms + physics_step: mean=27.5ms, total=8.25s, count=300, min=17.4ms, max=36.5ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.2ms, max=4504.2ms + task_sampling: mean=397.4ms, total=397.4ms, count=1, min=397.4ms, max=397.4ms + task_specific_sample: mean=391.6ms, total=391.6ms, count=1, min=391.6ms, max=391.6ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=444.2us, 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 16:03:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:03:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:03:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:03:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:03:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:03:00 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 16:03:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:03:00 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 16:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026180m [env.py: 870] +05/12 16:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:03:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90382328 0.21176523 0.02617971] yaw=188.3deg [env.py: 1019] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97665658 0.72818021 0.02617971] yaw=-144.2deg [env.py: 1019] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96725236 0.11002868 0.02617971] yaw=189.8deg [env.py: 1019] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:03:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=112.3ms, total=112.3ms [env.py: 1075] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.212, 0.026) [env.py: 1079] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.3 deg [env.py: 1082] +05/12 16:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/12 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:03:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:03:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:03:01 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 16:03:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 16:03:01 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 16:03:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:03:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:03:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.804s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:03:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 97.622[deg] [grasp_sample.py: 539] +05/12 16:03:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:03:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:03:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:03:03 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 16:03:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:03:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:03:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:03:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 16.98s (batch: 5.07s, save: 11.91s) [pipeline.py: 300] +05/12 16:03:14 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s: + episode_total: mean=187.10s, total=187.10s, count=1, min=187105.0ms, max=187105.0ms + sensor_polling: mean=432.5ms, total=129.75s, count=300, min=371.6ms, max=834.3ms + save_trajectories: mean=11.91s, total=11.91s, count=1, min=11907.7ms, max=11907.7ms + physics_step: mean=25.8ms, total=7.74s, count=300, min=17.5ms, max=35.0ms + save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5072.3ms, max=5072.3ms + task_sampling: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms + task_specific_sample: mean=459.1ms, total=459.1ms, count=1, min=459.1ms, max=459.1ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=611.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=27.7us, 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 16:03:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:03:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:03:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:03:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:03:16 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 16:03:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:03:16 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 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078851m [env.py: 870] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:03:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77782793 0.60084403 0.07885105] yaw=-210.6deg [env.py: 1019] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05062508 1.14153837 0.07885105] yaw=-120.3deg [env.py: 1019] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15281635 1.15813959 0.07885105] yaw=-134.6deg [env.py: 1019] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:03:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=165.9ms, total=165.9ms [env.py: 1075] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.601, 0.079) [env.py: 1079] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -210.6 deg [env.py: 1082] +05/12 16:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:03:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:03:16 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 16:03:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 16:03:17 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 16:03:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:03:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:03:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.919s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:03:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.579[m] 83.935[deg] [grasp_sample.py: 539] +05/12 16:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:03:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:03:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:03:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:03:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:03:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:03:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:03:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:04:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:04:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:04:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:04:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:04:36 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:05:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:05:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:05:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:05:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:05:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.641s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:05:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.897[deg] [grasp_sample.py: 539] +05/12 16:05:06 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:05:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:05:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:05:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:05:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:05:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:05:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:05:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:05:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:05:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:05:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:05:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.77s (batch: 4.41s, save: 11.36s) [pipeline.py: 300] +05/12 16:05:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.650s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:05:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.043[m] 0.640[deg] [grasp_sample.py: 539] +05/12 16:05:23 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.39s: + episode_total: mean=191.76s, total=191.76s, count=1, min=191755.4ms, max=191755.4ms + sensor_polling: mean=428.7ms, total=128.61s, count=300, min=371.7ms, max=833.7ms + save_trajectories: mean=11.36s, total=11.36s, count=1, min=11363.4ms, max=11363.4ms + physics_step: mean=26.2ms, total=7.85s, count=300, min=21.4ms, max=42.3ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4405.5ms, max=4405.5ms + task_sampling: mean=387.7ms, total=387.7ms, count=1, min=387.7ms, max=387.7ms + task_specific_sample: mean=384.0ms, total=384.0ms, count=1, min=384.0ms, max=384.0ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=463.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=12.2us, 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 16:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:05:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:05:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:05:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:05:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:05:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:05:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:05:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:05:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:05:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088950m [env.py: 870] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:05:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65998981 0.39418086 0.0889499 ] yaw=167.5deg [env.py: 1019] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.60589455 0.50045103 0.0889499 ] yaw=-141.9deg [env.py: 1019] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68746512 0.87660165 0.0889499 ] yaw=-143.7deg [env.py: 1019] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:05:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=136.8ms, total=136.9ms [env.py: 1075] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.394, 0.089) [env.py: 1079] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg [env.py: 1082] +05/12 16:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:05:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:05:25 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 16:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:05:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:05:25 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 16:05:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:05:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:05:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 16:05:25 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 16:05:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:05:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.500s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:05:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.601[m] 86.200[deg] [grasp_sample.py: 539] +05/12 16:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:05:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:05:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:05:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:05:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.765s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:05:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.621[deg] [grasp_sample.py: 539] +05/12 16:05:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:05:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:05:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:05:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:05:31 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 16:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:05:31 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 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033170m [env.py: 870] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70741651 0.12333577 0.03316974] yaw=158.0deg [env.py: 1019] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06129547 1.2108181 0.03316974] yaw=-140.1deg [env.py: 1019] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86741833 0.96348417 0.03316974] yaw=-119.6deg [env.py: 1019] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:05:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=102.3ms, total=102.3ms [env.py: 1075] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.123, 0.033) [env.py: 1079] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg [env.py: 1082] +05/12 16:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:05:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:05:31 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 16:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 16:05:31 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 16:05:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:05:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:05:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.587[m] 86.669[deg] [grasp_sample.py: 539] +05/12 16:05:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:05:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:05:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:35 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 16:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:05:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:05:38 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 16:05:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:05:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 16:05:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.681s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:05:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.043[m] 0.639[deg] [grasp_sample.py: 539] +05/12 16:05:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:05:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:05:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:43 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:05:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:05:55 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/12 16:05:55 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 16:05:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=0.43s: + episode_total: mean=174.95s, total=174.95s, count=1, min=174954.5ms, max=174954.5ms + sensor_polling: mean=471.0ms, total=117.75s, count=250, min=398.3ms, max=848.5ms + physics_step: mean=27.7ms, total=6.92s, count=250, min=14.6ms, max=43.4ms + task_sampling: mean=426.9ms, total=426.9ms, count=1, min=426.9ms, max=426.9ms + task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=599.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 16:05:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:05:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:05:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:05:57 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 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038416m [env.py: 870] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:05:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89808824 0.44779683 0.03841603] yaw=208.3deg [env.py: 1019] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.09745193 1.08820713 0.03841603] yaw=-111.8deg [env.py: 1019] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.9ms, total=233.0ms [env.py: 1075] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.448, 0.038) [env.py: 1079] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 208.3 deg [env.py: 1082] +05/12 16:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:05:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:05:58 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 16:05:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/12 16:05:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:05:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:05:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:05:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.825s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:05:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 84.210[deg] [grasp_sample.py: 539] +05/12 16:05:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:05:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:05:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:06:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:06:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:06:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 16:06:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:06:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:06:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:06:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:06:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:06:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.03s (batch: 3.78s, save: 11.26s) [pipeline.py: 300] +05/12 16:06:28 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s: + episode_total: mean=191.79s, total=191.79s, count=1, min=191786.1ms, max=191786.1ms + sensor_polling: mean=441.2ms, total=132.37s, count=300, min=369.4ms, max=835.0ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11255.5ms, max=11255.5ms + physics_step: mean=28.7ms, total=8.62s, count=300, min=17.0ms, max=51.2ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3776.2ms, max=3776.2ms + task_sampling: mean=521.1ms, total=521.1ms, count=1, min=521.1ms, max=521.1ms + task_specific_sample: mean=516.3ms, total=516.3ms, count=1, min=516.3ms, max=516.3ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=601.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 16:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:06:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:06:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:06:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:06:29 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 16:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:06:29 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 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010756m [env.py: 870] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16118915 1.1591977 0.01075615] yaw=-95.6deg [env.py: 1019] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91488124 0.60733344 0.01075615] yaw=-153.1deg [env.py: 1019] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82559727 0.67435653 0.01075615] yaw=-195.3deg [env.py: 1019] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1075] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.161, 1.159, 0.011) [env.py: 1079] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.6 deg [env.py: 1082] +05/12 16:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:06:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:06:30 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 16:06:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 16:06:30 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 16:06:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:06:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:06:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:06:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:06:32 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.555[m] 102.978[deg] [grasp_sample.py: 539] +05/12 16:06:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:06:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:06:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:06:33 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 16:06:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:06:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:06:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:06:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:06:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:06:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:07:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:07:35 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 16:07:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:07:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.741s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:07:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.301[deg] [grasp_sample.py: 539] +05/12 16:07:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:07:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:07:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:07:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:07:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:07:40 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 16:07:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:07:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 16:07:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.711s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:07:41 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.266[deg] [grasp_sample.py: 539] +05/12 16:07:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:07:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:07:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:50 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:07:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:07:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:07:56 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:08:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:08:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:08:19 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:08:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 16:08:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:08:26 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 16:08:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 16:08:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:08:30 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:08:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:08:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 15.11s (batch: 4.52s, save: 10.59s) [pipeline.py: 300] +05/12 16:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:36 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.82s: + episode_total: mean=171.27s, total=342.55s, count=2, min=157742.8ms, max=184803.1ms + sensor_polling: mean=425.1ms, total=254.64s, count=599, min=369.9ms, max=822.7ms + physics_step: mean=26.3ms, total=15.77s, count=599, min=16.8ms, max=67.0ms + save_trajectories: mean=10.59s, total=10.59s, count=1, min=10590.4ms, max=10590.4ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.9ms, max=4519.9ms + task_sampling: mean=409.9ms, total=819.9ms, count=2, min=362.6ms, max=457.3ms + task_specific_sample: mean=406.5ms, total=813.1ms, count=2, min=359.6ms, max=453.5ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.4ms + mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.6us, 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 16:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:08:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:08:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:08:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:08:38 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 16:08:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:08:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017956m [env.py: 870] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:08:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83499337 0.0931477 0.01795636] yaw=147.3deg [env.py: 1019] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80251225 0.44631524 0.01795636] yaw=217.7deg [env.py: 1019] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:08:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=175.9ms, total=175.9ms [env.py: 1075] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.093, 0.018) [env.py: 1079] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.3 deg [env.py: 1082] +05/12 16:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:08:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:08:38 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 16:08:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 16:08:38 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 16:08:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:08:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:08:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:08:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 14.70s (batch: 4.33s, save: 10.38s) [pipeline.py: 300] +05/12 16:08:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.270s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:08:41 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.542[m] 97.749[deg] [grasp_sample.py: 539] +05/12 16:08:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:08:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:08:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:08:41 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.46s: + episode_total: mean=196.61s, total=196.61s, count=1, min=196606.3ms, max=196606.3ms + sensor_polling: mean=420.9ms, total=126.28s, count=300, min=369.4ms, max=865.1ms + save_trajectories: mean=10.38s, total=10.38s, count=1, min=10379.1ms, max=10379.1ms + physics_step: mean=24.8ms, total=7.44s, count=300, min=15.5ms, max=48.2ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4325.1ms, max=4325.1ms + task_sampling: mean=460.6ms, total=460.6ms, count=1, min=460.6ms, max=460.6ms + task_specific_sample: mean=455.9ms, total=455.9ms, count=1, min=455.9ms, max=455.9ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=642.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=41.3us, 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 16:08:41 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 16:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:08:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:08:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:08:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:08:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:08:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:08:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006285m [env.py: 870] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:08:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98107892 1.05730933 0.00628515] yaw=-109.8deg [env.py: 1019] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04770538 1.00243721 0.00628515] yaw=-165.8deg [env.py: 1019] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88115866 0.83771403 0.00628515] yaw=-142.3deg [env.py: 1019] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:08:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.7ms [env.py: 1075] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.057, 0.006) [env.py: 1079] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.8 deg [env.py: 1082] +05/12 16:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:08:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:08:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 16:08:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/12 16:08:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:08:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:08:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 16:08:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 16:08:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 16:08:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 16:08:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:08:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 16:08:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.662s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:08:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 95.282[deg] [grasp_sample.py: 539] +05/12 16:08:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:08:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:08:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:08:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.622s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:08:48 INFO: [Worker 0] Feasible grasp found 129 (originally 14): w/ 0.043[m] 1.451[deg] [grasp_sample.py: 539] +05/12 16:08:50 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 16:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:08:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:08:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:08:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:08:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 16:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:08:51 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 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023896m [env.py: 870] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7018242 0.80510606 0.02389582] yaw=-148.4deg [env.py: 1019] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90319145 0.762489 0.02389582] yaw=-137.6deg [env.py: 1019] +05/12 16:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96696832 0.67518224 0.02389582] yaw=-200.6deg [env.py: 1019] +05/12 16:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:08:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=427.2ms, total=427.2ms [env.py: 1075] +05/12 16:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.805, 0.024) [env.py: 1079] +05/12 16:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.4 deg [env.py: 1082] +05/12 16:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/12 16:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:08:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:08:52 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 16:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 16:08:52 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 16:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:08:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:08:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 86.293[deg] [grasp_sample.py: 539] +05/12 16:08:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:08:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:08:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:08:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 16:09:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [pipeline.py: 1174] +05/12 16:09:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_017 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 16:09:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 16:09:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 16:09:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_017 [save_utils.py: 785] +05/12 16:09:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_017 in 17.83s (batch: 6.82s, save: 11.01s) [pipeline.py: 300] +05/12 16:09:19 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.56s: + episode_total: mean=201.77s, total=201.77s, count=1, min=201767.0ms, max=201767.0ms + sensor_polling: mean=432.5ms, total=129.76s, count=300, min=389.6ms, max=844.8ms + save_trajectories: mean=11.01s, total=11.01s, count=1, min=11006.2ms, max=11006.2ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=16.0ms, max=35.5ms + save_batch_prep: mean=6.82s, total=6.82s, count=1, min=6819.0ms, max=6819.0ms + task_sampling: mean=561.5ms, total=561.5ms, count=1, min=561.5ms, max=561.5ms + task_specific_sample: mean=558.2ms, total=558.2ms, count=1, min=558.2ms, max=558.2ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=451.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.3us, 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 16:09:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 16:09:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 16:09:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:09:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 16:09:21 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 16:09:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 16:09:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083455m [env.py: 870] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 16:09:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75063715 0.97811878 0.08345536] yaw=-192.4deg [env.py: 1019] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73549867 0.14341037 0.08345536] yaw=181.7deg [env.py: 1019] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76892024 0.38724034 0.08345536] yaw=172.5deg [env.py: 1019] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 16:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=121.0ms, total=121.0ms [env.py: 1075] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.978, 0.083) [env.py: 1079] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.4 deg [env.py: 1082] +05/12 16:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 16:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 16:09:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 16:09:21 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 16:09:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.184s [base_object_manipulation_planner_policy.py: 377] +05/12 16:09:21 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 16:09:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 16:09:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 16:09:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.083s, found feasible grasp: True [grasp_sample.py: 500] +05/12 16:09:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.776[m] 90.873[deg] [grasp_sample.py: 539] +05/12 16:09:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 16:09:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 16:09:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:09:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:09:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:09:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:09:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:09:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:09:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:09:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:09:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:10:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:10:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 16:10:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 16:10:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 16:11:00 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 16:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 16:11:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 16:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 16:11:10 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:11:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 16:11:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 16:11:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 16:11:15 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 16:11:29 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] 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 new file mode 100644 index 0000000000000000000000000000000000000000..0e78b99007dd441f1cda91bdbb9a487e266948f0 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_017/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f683856f03c0094c06c671e64e39f1b6c87cd406e1bdaac61d7bae17afaeaaca +size 968540662 diff --git a/fridge_m_0.7_pd/chunk_017/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_017/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dfc93b43d4988dbaede72ea9846e0be3e9f810b3 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_017/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b5f3ae319fde3c97f118d2564fb6d6c2918265027fd26ac86d85d48fe9f1cf0 +size 834801679 diff --git a/fridge_m_0.7_pd/chunk_017/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_017/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20fd5a1bfb8e70fca29b2b961357ad8ab91c9293 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_017/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28ae328d88d251f4d54f82437d9bcfdcddbaffdee6b433c900b6e44f2524ba8c +size 884318499 diff --git a/fridge_m_0.7_pd/chunk_017/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_017/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0434c6a98607496d55931eac81b13d622fe3dde4 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_017/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28e037f2d1a818e913529aab911662dec2334c704a618396bbd569ece8289a7d +size 705688497