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a/fridge_m_0.7_pd/chunk_013/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_013/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..95d49ec5434f792ad73b70b232f5335d0f942390 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_013/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c11d94fd4143d1097ac8403f678e908a7263bd784f6bd4e71f1fb68fa92c02b +size 355343 diff --git a/fridge_m_0.7_pd/chunk_013/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m_0.7_pd/chunk_013/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..34bae26ae873161630fe5b706706e988cccc1b93 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_013/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad7405905cb8143b206d88f96d01fdb2cab522bb2657d97467d25b24f9fa03ac +size 343224 diff --git a/fridge_m_0.7_pd/chunk_013/running_log.log b/fridge_m_0.7_pd/chunk_013/running_log.log index d23a004bd5e495947cabc9541dbb587b390e7480..b57951272c609734912a5e910a4d42fad873c67c 100644 --- a/fridge_m_0.7_pd/chunk_013/running_log.log +++ b/fridge_m_0.7_pd/chunk_013/running_log.log @@ -4324,3 +4324,1942 @@ 05/12 12:14:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] 05/12 12:14:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] 05/12 12:14:51 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 12:15:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:15:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:15:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.22s (batch: 4.12s, save: 11.10s) [pipeline.py: 300] +05/12 12:15:01 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.59s: + episode_total: mean=182.85s, total=182.85s, count=1, min=182854.1ms, max=182854.1ms + sensor_polling: mean=414.3ms, total=124.29s, count=300, min=369.9ms, max=940.3ms + save_trajectories: mean=11.10s, total=11.10s, count=1, min=11099.6ms, max=11099.6ms + physics_step: mean=25.2ms, total=7.55s, count=300, min=17.0ms, max=35.6ms + save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.1ms, max=4119.1ms + task_sampling: mean=591.9ms, total=591.9ms, count=1, min=591.9ms, max=591.9ms + task_specific_sample: mean=587.8ms, total=587.8ms, count=1, min=587.8ms, max=587.8ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:15:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:15:02 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 12:15:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:15:02 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 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078097m [env.py: 870] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:15:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85863344 0.89296651 0.07809723] yaw=-178.7deg [env.py: 1019] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03450952 0.94252925 0.07809723] yaw=-125.6deg [env.py: 1019] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.1ms, total=252.1ms [env.py: 1075] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.893, 0.078) [env.py: 1079] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.7 deg [env.py: 1082] +05/12 12:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:15:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 12:15:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:03 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 12:15:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.956s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 96.107[deg] [grasp_sample.py: 539] +05/12 12:15:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:15:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:15:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:05 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 12:15:09 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:15:32 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:15:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:36 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:15:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:15:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:15:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:15:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:15:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:15:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.60s (batch: 3.71s, save: 10.90s) [pipeline.py: 300] +05/12 12:15:51 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.10s: + episode_total: mean=136.89s, total=273.77s, count=2, min=84844.5ms, max=188930.5ms + sensor_polling: mean=441.4ms, total=194.66s, count=441, min=397.2ms, max=996.7ms + save_trajectories: mean=10.90s, total=10.90s, count=1, min=10899.2ms, max=10899.2ms + physics_step: mean=24.6ms, total=10.84s, count=441, min=16.9ms, max=64.3ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3705.0ms, max=3705.0ms + task_sampling: mean=550.8ms, total=1.10s, count=2, min=449.0ms, max=652.6ms + task_specific_sample: mean=546.3ms, total=1.09s, count=2, min=444.0ms, max=648.5ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.5ms, max=3.0ms + mj_forward_sync: mean=456.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=33.5us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:15:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:15:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:15:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:15:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:15:52 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 12:15:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:15:52 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 12:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030433m [env.py: 870] +05/12 12:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:15:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94383992 0.70365788 0.03043301] yaw=-171.8deg [env.py: 1019] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90378033 0.51361893 0.03043301] yaw=-199.4deg [env.py: 1019] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7843861 0.88329884 0.03043301] yaw=-192.1deg [env.py: 1019] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=401.3ms, total=401.4ms [env.py: 1075] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.704, 0.030) [env.py: 1079] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg [env.py: 1082] +05/12 12:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m [env.py: 1086] +05/12 12:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:15:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:15:53 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 12:15:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/12 12:15:53 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 12:15:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:15:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:15:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.855s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:15:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.383[m] 92.779[deg] [grasp_sample.py: 539] +05/12 12:15:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:15:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:15:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:15:55 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 12:15:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:15:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:15:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:16:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:16:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:16:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:16:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.44s (batch: 3.73s, save: 10.71s) [pipeline.py: 300] +05/12 12:16:14 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.47s: + episode_total: mean=106.03s, total=212.06s, count=2, min=198.4ms, max=211863.2ms + sensor_polling: mean=399.3ms, total=119.80s, count=300, min=370.4ms, max=885.7ms + save_trajectories: mean=10.71s, total=10.71s, count=1, min=10710.3ms, max=10710.3ms + physics_step: mean=24.3ms, total=7.29s, count=300, min=15.0ms, max=35.3ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.7ms, max=3729.7ms + task_specific_sample: mean=328.9ms, total=657.8ms, count=2, min=192.0ms, max=465.8ms + task_sampling: mean=468.8ms, total=468.8ms, count=1, min=468.8ms, max=468.8ms + task_sampling_failed: mean=198.4ms, total=198.4ms, count=1, min=198.4ms, max=198.4ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.9ms + mj_forward_sync: mean=468.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.3us, 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 12:16:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:16:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:16:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:16:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098982m [env.py: 870] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:16:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89874536 1.22794254 0.09898153] yaw=-156.5deg [env.py: 1019] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91459557 1.12974051 0.09898153] yaw=-149.4deg [env.py: 1019] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89645181 0.68701962 0.09898153] yaw=-157.7deg [env.py: 1019] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=257.7ms, total=257.8ms [env.py: 1075] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 1.228, 0.099) [env.py: 1079] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg [env.py: 1082] +05/12 12:16:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:16:15 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 12:16:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:16 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 12:16:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.769s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:16:18 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:16:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:16:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:16:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:16:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:16:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:16:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063275m [env.py: 870] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:16:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62760063 0.36143586 0.06327455] yaw=196.9deg [env.py: 1019] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97786028 0.09058014 0.06327455] yaw=125.8deg [env.py: 1019] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90367549 0.64639333 0.06327455] yaw=-167.5deg [env.py: 1019] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:16:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.1ms, total=163.1ms [env.py: 1075] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.361, 0.063) [env.py: 1079] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.9 deg [env.py: 1082] +05/12 12:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:16:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:16:20 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 12:16:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/12 12:16:20 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 12:16:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:16:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:16:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.335s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:16:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 85.081[deg] [grasp_sample.py: 539] +05/12 12:16:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:16:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:16:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:23 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 12:16:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:16:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:16:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:21 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:17:26 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:17:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:17:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:17:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:17:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:17:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:17:54 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:17:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:17:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:18:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:18:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:18:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.72s (batch: 4.44s, save: 11.28s) [pipeline.py: 300] +05/12 12:18:05 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.58s: + episode_total: mean=183.24s, total=183.24s, count=1, min=183240.4ms, max=183240.4ms + sensor_polling: mean=423.1ms, total=126.92s, count=300, min=369.4ms, max=840.5ms + save_trajectories: mean=11.28s, total=11.28s, count=1, min=11278.6ms, max=11278.6ms + physics_step: mean=26.0ms, total=7.80s, count=300, min=16.8ms, max=34.2ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4441.6ms, max=4441.6ms + task_sampling: mean=579.9ms, total=579.9ms, count=1, min=579.9ms, max=579.9ms + task_specific_sample: mean=575.8ms, total=575.8ms, count=1, min=575.8ms, max=575.8ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=466.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.5us, 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 12:18:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:18:07 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 12:18:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:18:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035590m [env.py: 870] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:18:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13858979 1.06509451 0.03559047] yaw=-143.6deg [env.py: 1019] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77349897 0.6047241 0.03559047] yaw=-156.2deg [env.py: 1019] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76208567 0.89193773 0.03559047] yaw=-144.1deg [env.py: 1019] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:18:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.7ms [env.py: 1075] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.139, 1.065, 0.036) [env.py: 1079] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.6 deg [env.py: 1082] +05/12 12:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:18:07 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 12:18:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 12:18:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:18:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.370s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 93.226[deg] [grasp_sample.py: 539] +05/12 12:18:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:18:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:18:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:18:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:18:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.18s (batch: 3.96s, save: 11.22s) [pipeline.py: 300] +05/12 12:18:10 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.54s: + episode_total: mean=151.24s, total=453.71s, count=3, min=95844.9ms, max=201009.5ms + sensor_polling: mean=424.8ms, total=295.69s, count=696, min=382.0ms, max=917.8ms + physics_step: mean=24.2ms, total=16.87s, count=696, min=15.6ms, max=68.0ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11219.4ms, max=11219.4ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3961.5ms, max=3961.5ms + task_sampling: mean=513.6ms, total=1.54s, count=3, min=418.6ms, max=563.3ms + task_specific_sample: mean=508.7ms, total=1.53s, count=3, min=412.1ms, max=559.0ms + scene_randomize: mean=2.3ms, total=6.9ms, count=3, min=2.0ms, max=2.7ms + mj_forward_sync: mean=456.1us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=16.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:18:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:18:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:18:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:18:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:18:11 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 12:18:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:18:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009164m [env.py: 870] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:18:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96150324 0.95087778 0.00916401] yaw=-176.1deg [env.py: 1019] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94331123 1.07986843 0.00916401] yaw=-113.5deg [env.py: 1019] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:18:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05796186 1.16365025 0.00916401] yaw=-93.7deg [env.py: 1019] +05/12 12:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:18:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=209.2ms, total=209.2ms [env.py: 1075] +05/12 12:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.951, 0.009) [env.py: 1079] +05/12 12:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg [env.py: 1082] +05/12 12:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/12 12:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:18:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:18:12 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 12:18:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 12:18:12 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 12:18:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:18:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:18:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.924s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:18:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 99.474[deg] [grasp_sample.py: 539] +05/12 12:18:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:18:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:18:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:16 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:18:31 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:18:44 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:18:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:18:44 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/12 12:18:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:18:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:18:58 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:18:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:18:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:19:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:19:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:19:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 17.00s (batch: 6.03s, save: 10.97s) [pipeline.py: 300] +05/12 12:19:01 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.76s: + episode_total: mean=188.77s, total=188.77s, count=1, min=188766.6ms, max=188766.6ms + sensor_polling: mean=440.3ms, total=131.66s, count=299, min=407.6ms, max=976.6ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10971.4ms, max=10971.4ms + physics_step: mean=24.9ms, total=7.46s, count=299, min=16.8ms, max=46.4ms + save_batch_prep: mean=6.03s, total=6.03s, count=1, min=6031.6ms, max=6031.6ms + task_sampling: mean=760.4ms, total=760.4ms, count=1, min=760.4ms, max=760.4ms + task_specific_sample: mean=755.7ms, total=755.7ms, count=1, min=755.7ms, max=755.7ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=468.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=34.5us, 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 12:19:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:19:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:19:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:19:03 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 12:19:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:19:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014481m [env.py: 870] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:19:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92746433 0.32292381 0.01448144] yaw=154.0deg [env.py: 1019] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76852711 0.41196463 0.01448144] yaw=182.8deg [env.py: 1019] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.10061418 1.07296049 0.01448144] yaw=-143.5deg [env.py: 1019] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.4ms, total=234.4ms [env.py: 1075] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.323, 0.014) [env.py: 1079] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg [env.py: 1082] +05/12 12:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m [env.py: 1086] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:19:03 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 12:19:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 12:19:03 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 12:19:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.380[m] 94.699[deg] [grasp_sample.py: 539] +05/12 12:19:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:19:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:19:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:05 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 12:19:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:19:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:19:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.44s (batch: 3.85s, save: 10.59s) [pipeline.py: 300] +05/12 12:19:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:19:13 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.02s: + episode_total: mean=88.37s, total=176.75s, count=2, min=3564.0ms, max=173183.0ms + sensor_polling: mean=398.0ms, total=119.41s, count=300, min=368.5ms, max=939.7ms + save_trajectories: mean=10.59s, total=10.59s, count=1, min=10588.9ms, max=10588.9ms + physics_step: mean=23.3ms, total=6.98s, count=300, min=16.8ms, max=34.8ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3848.2ms, max=3848.2ms + task_sampling: mean=508.6ms, total=1.02s, count=2, min=434.8ms, max=582.5ms + task_specific_sample: mean=505.1ms, total=1.01s, count=2, min=431.6ms, max=578.6ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=451.3us, total=0.9ms, count=2, min=0.4ms, 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 12:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:19:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:19:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:19:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048626m [env.py: 870] +05/12 12:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65176134 0.39740315 0.04862636] yaw=147.6deg [env.py: 1019] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01355207 1.25416664 0.04862636] yaw=-133.9deg [env.py: 1019] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97264296 0.30289287 0.04862636] yaw=141.3deg [env.py: 1019] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:19:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.3ms, total=214.3ms [env.py: 1075] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.397, 0.049) [env.py: 1079] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.6 deg [env.py: 1082] +05/12 12:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 12:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:19:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:19:15 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 12:19:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 12:19:15 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 12:19:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:19:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:19:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.082s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:19:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.694[m] 84.887[deg] [grasp_sample.py: 539] +05/12 12:19:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:19:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:19:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:17 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 12:19:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:19:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:19:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:20:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:20:15 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 12:20:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.659s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 2.371[deg] [grasp_sample.py: 539] +05/12 12:20:19 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:20:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:20:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:20:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:20:21 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 12:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:20:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090835m [env.py: 870] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7792297 1.04781323 0.09083545] yaw=-167.0deg [env.py: 1019] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81599247 0.17121949 0.09083545] yaw=199.4deg [env.py: 1019] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96263794 1.1045094 0.09083545] yaw=-141.8deg [env.py: 1019] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.0ms, total=213.1ms [env.py: 1075] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 1.048, 0.091) [env.py: 1079] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg [env.py: 1082] +05/12 12:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:20:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:20:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 12:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/12 12:20:21 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 12:20:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.961s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.666[m] 83.512[deg] [grasp_sample.py: 539] +05/12 12:20:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:20:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:20:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:32 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:20:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:20:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:20:44 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 12:20:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:20:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:20:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:20:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.398[deg] [grasp_sample.py: 539] +05/12 12:20:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:20:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:20:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:20:58 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:20:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:20:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:20:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:21:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:21:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:21:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.95s (batch: 4.02s, save: 10.93s) [pipeline.py: 300] +05/12 12:21:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:14 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.54s: + episode_total: mean=182.31s, total=182.31s, count=1, min=182305.6ms, max=182305.6ms + sensor_polling: mean=429.8ms, total=128.93s, count=300, min=387.2ms, max=923.8ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10927.9ms, max=10927.9ms + physics_step: mean=25.3ms, total=7.60s, count=300, min=16.8ms, max=35.8ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4023.4ms, max=4023.4ms + task_sampling: mean=535.5ms, total=535.5ms, count=1, min=535.5ms, max=535.5ms + task_specific_sample: mean=531.4ms, total=531.4ms, count=1, min=531.4ms, max=531.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=451.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:21:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:21:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097166m [env.py: 870] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93678762 1.14064467 0.09716613] yaw=-116.0deg [env.py: 1019] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77698942 0.35954792 0.09716613] yaw=148.1deg [env.py: 1019] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.1ms, total=204.1ms [env.py: 1075] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 1.141, 0.097) [env.py: 1079] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.0 deg [env.py: 1082] +05/12 12:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:21:16 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 12:21:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:21:16 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 12:21:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:21:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:21:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.899s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:21:20 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.643[m] 89.110[deg] [grasp_sample.py: 539] +05/12 12:21:21 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:21:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:21:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028844m [env.py: 870] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:21:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13378195 0.98626692 0.02884377] yaw=-102.9deg [env.py: 1019] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76291857 0.38417225 0.02884377] yaw=162.0deg [env.py: 1019] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71122106 0.81930642 0.02884377] yaw=-146.5deg [env.py: 1019] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.6ms, total=228.6ms [env.py: 1075] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.134, 0.986, 0.029) [env.py: 1079] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.9 deg [env.py: 1082] +05/12 12:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m [env.py: 1086] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:21:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 12:21:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/12 12:21:23 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 12:21:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:21:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:21:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:21:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 92.886[deg] [grasp_sample.py: 539] +05/12 12:21:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:21:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:21:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:26 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 12:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:21:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:21:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:21:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:21:36 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 12:21:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:21:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 12:21:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:38 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.957s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:21:38 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.513[deg] [grasp_sample.py: 539] +05/12 12:21:40 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:21:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:21:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:21:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:21:41 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 12:21:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:21:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066339m [env.py: 870] +05/12 12:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:21:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9367559 0.86827663 0.06633874] yaw=-114.6deg [env.py: 1019] +05/12 12:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70524263 0.7392425 0.06633874] yaw=-201.6deg [env.py: 1019] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71757652 0.64885244 0.06633874] yaw=-171.3deg [env.py: 1019] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.0ms, total=126.0ms [env.py: 1075] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.868, 0.066) [env.py: 1079] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.6 deg [env.py: 1082] +05/12 12:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:21:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:21:42 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 12:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 12:21:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:21:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:21:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:21:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.922s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:21:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 92.369[deg] [grasp_sample.py: 539] +05/12 12:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:21:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:21:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:21:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:21:53 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:21:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:21:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:22:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:22:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:22:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.62s (batch: 3.95s, save: 10.68s) [pipeline.py: 300] +05/12 12:22:08 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.53s: + episode_total: mean=173.52s, total=173.52s, count=1, min=173517.4ms, max=173517.4ms + sensor_polling: mean=385.3ms, total=115.60s, count=300, min=360.8ms, max=877.8ms + save_trajectories: mean=10.67s, total=10.67s, count=1, min=10675.0ms, max=10675.0ms + physics_step: mean=24.1ms, total=7.22s, count=300, min=16.7ms, max=38.8ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.8ms, max=3949.8ms + task_sampling: mean=525.8ms, total=525.8ms, count=1, min=525.8ms, max=525.8ms + task_specific_sample: mean=521.8ms, total=521.8ms, count=1, min=521.8ms, max=521.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=478.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.5us, 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 12:22:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:22:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:22:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:22:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:22:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:22:09 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 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027232m [env.py: 870] +05/12 12:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:22:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77159616 0.54304208 0.02723182] yaw=-160.9deg [env.py: 1019] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09619501 0.990161 0.02723182] yaw=-122.7deg [env.py: 1019] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:22:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=789.4ms, total=789.5ms [env.py: 1075] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.543, 0.027) [env.py: 1079] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg [env.py: 1082] +05/12 12:22:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:22:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:22:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:22:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 12:22:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 12:22:11 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 12:22:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.967s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 93.411[deg] [grasp_sample.py: 539] +05/12 12:22:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:22:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:22:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:22:12 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 12:22:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:22:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:22:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:22:45 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 12:22:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:22:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:22:48 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.837s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:22:48 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.038[m] 6.334[deg] [grasp_sample.py: 539] +05/12 12:22:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:22:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:22:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:22:56 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:22:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:23:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:25 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:23:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:23:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:23:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:23:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:23:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.75s (batch: 4.59s, save: 11.16s) [pipeline.py: 300] +05/12 12:23:41 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.99s: + episode_total: mean=166.63s, total=333.26s, count=2, min=132579.6ms, max=200684.6ms + sensor_polling: mean=408.8ms, total=228.94s, count=560, min=365.1ms, max=943.0ms + physics_step: mean=25.2ms, total=14.13s, count=560, min=15.9ms, max=64.8ms + save_trajectories: mean=11.16s, total=11.16s, count=1, min=11161.0ms, max=11161.0ms + save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4593.3ms, max=4593.3ms + task_sampling: mean=497.4ms, total=994.9ms, count=2, min=470.9ms, max=524.0ms + task_specific_sample: mean=493.2ms, total=986.3ms, count=2, min=466.6ms, max=519.8ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.0ms, max=2.9ms + mj_forward_sync: mean=452.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=14.2us, 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 12:23:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:23:43 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 12:23:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:23:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013331m [env.py: 870] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:23:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93665219 1.11543678 0.01333136] yaw=-138.9deg [env.py: 1019] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70607397 0.64835363 0.01333136] yaw=-203.5deg [env.py: 1019] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91209206 0.06089694 0.01333136] yaw=190.1deg [env.py: 1019] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.2ms, total=171.2ms [env.py: 1075] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 1.115, 0.013) [env.py: 1079] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.9 deg [env.py: 1082] +05/12 12:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:23:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 12:23:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:44 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 12:23:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:23:46 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:23:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.014s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:52 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.584[m] 90.725[deg] [grasp_sample.py: 539] +05/12 12:23:53 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:23:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:23:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:23:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:23:54 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 12:23:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:23:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086915m [env.py: 870] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:23:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64917086 0.44829775 0.08691473] yaw=159.3deg [env.py: 1019] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77525134 0.86655522 0.08691473] yaw=-167.8deg [env.py: 1019] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68925275 0.32242041 0.08691473] yaw=156.7deg [env.py: 1019] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:23:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.6ms, total=224.7ms [env.py: 1075] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.448, 0.087) [env.py: 1079] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg [env.py: 1082] +05/12 12:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:23:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:23:55 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 12:23:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/12 12:23:55 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 12:23:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:23:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:23:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.077s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:23:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.668[m] 100.558[deg] [grasp_sample.py: 539] +05/12 12:23:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:23:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:23:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:23:57 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 12:24:03 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:24:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:24:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:24:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:24:26 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:24:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:24:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:24:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.27s (batch: 4.17s, save: 11.09s) [pipeline.py: 300] +05/12 12:24:27 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.01s: + episode_total: mean=95.43s, total=190.86s, count=2, min=6217.2ms, max=184639.4ms + sensor_polling: mean=431.0ms, total=129.29s, count=300, min=389.6ms, max=930.1ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11091.4ms, max=11091.4ms + physics_step: mean=25.5ms, total=7.66s, count=300, min=21.6ms, max=35.3ms + save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4174.2ms, max=4174.2ms + task_sampling: mean=504.0ms, total=1.01s, count=2, min=483.0ms, max=525.0ms + task_specific_sample: mean=500.2ms, total=1.00s, count=2, min=479.5ms, max=521.0ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.4ms, max=2.7ms + mj_forward_sync: mean=456.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=17.2us, 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 12:24:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:24:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:24:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:24:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:24:29 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 12:24:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:24:29 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 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037094m [env.py: 870] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:24:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98138519 1.04796188 0.03709368] yaw=-149.7deg [env.py: 1019] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91176052 0.64379425 0.03709368] yaw=-206.6deg [env.py: 1019] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1638266 1.12604567 0.03709368] yaw=-114.6deg [env.py: 1019] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:24:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.5ms [env.py: 1075] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.048, 0.037) [env.py: 1079] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg [env.py: 1082] +05/12 12:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:24:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:24:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:24:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 12:24:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 12:24:29 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 12:24:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:24:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:24:32 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:24:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:24:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:24:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.838s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:24:33 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.526[m] 77.088[deg] [grasp_sample.py: 539] +05/12 12:24:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:24:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:24:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:24:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:24:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.12s (batch: 4.32s, save: 10.80s) [pipeline.py: 300] +05/12 12:24:47 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.93s: + episode_total: mean=171.61s, total=343.22s, count=2, min=157145.8ms, max=186070.9ms + sensor_polling: mean=433.9ms, total=239.94s, count=553, min=390.6ms, max=1004.2ms + physics_step: mean=24.8ms, total=13.74s, count=553, min=15.4ms, max=36.6ms + save_trajectories: mean=10.80s, total=10.80s, count=1, min=10795.4ms, max=10795.4ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4319.9ms, max=4319.9ms + task_sampling: mean=466.2ms, total=932.4ms, count=2, min=388.2ms, max=544.2ms + task_specific_sample: mean=461.1ms, total=922.3ms, count=2, min=382.5ms, max=539.8ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.9ms, max=2.9ms + mj_forward_sync: mean=454.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:24:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:24:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:24:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:24:49 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 12:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057736m [env.py: 870] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97567235 0.77679922 0.05773581] yaw=-140.9deg [env.py: 1019] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.18198555 1.13456333 0.05773581] yaw=-122.9deg [env.py: 1019] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03850658 1.21938876 0.05773581] yaw=-100.9deg [env.py: 1019] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:24:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=282.2ms, total=282.2ms [env.py: 1075] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.777, 0.058) [env.py: 1079] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.9 deg [env.py: 1082] +05/12 12:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m [env.py: 1086] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:24:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:24:49 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/12 12:24:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 12:24:50 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 12:24:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:24:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:24:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.768s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:24:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 85.987[deg] [grasp_sample.py: 539] +05/12 12:24:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:24:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:24:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:24:51 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 12:24:55 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:24:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:24:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:24:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:25:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:25:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:25:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.15s (batch: 4.05s, save: 11.11s) [pipeline.py: 300] +05/12 12:25:10 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.10s: + episode_total: mean=181.04s, total=181.04s, count=1, min=181040.5ms, max=181040.5ms + sensor_polling: mean=394.8ms, total=118.43s, count=300, min=368.0ms, max=948.5ms + save_trajectories: mean=11.11s, total=11.11s, count=1, min=11105.1ms, max=11105.1ms + physics_step: mean=23.8ms, total=7.15s, count=300, min=16.6ms, max=37.0ms + save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4047.2ms, max=4047.2ms + task_sampling: mean=1.10s, total=1.10s, count=1, min=1099.2ms, max=1099.2ms + task_specific_sample: mean=1.10s, total=1.10s, count=1, min=1095.2ms, max=1095.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=457.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:25:12 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:25:12 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:25:12 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes [pipeline.py: 1323] +05/12 12:25:12 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4299.93s + House averages: + episode_total: mean=133.84s, total=2409.08s, count=18, min=198.4ms, max=215580.6ms + sensor_polling: mean=390.9ms, total=1592.84s, count=4075, min=360.8ms, max=996.2ms + save_trajectories: mean=11.24s, total=123.63s, count=11, min=10588.9ms, max=11911.6ms + physics_step: mean=23.6ms, total=96.27s, count=4075, min=14.9ms, max=49.3ms + save_batch_prep: mean=4.03s, total=44.31s, count=11, min=3694.1ms, max=4825.8ms + task_sampling: mean=829.2ms, total=14.10s, count=17, min=430.3ms, max=4804.0ms + task_specific_sample: mean=569.4ms, total=10.25s, count=18, min=192.0ms, max=1095.2ms + scene_load: mean=3.97s, total=3.97s, count=1, min=3971.2ms, max=3971.2ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2541.8ms, max=2541.8ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1162.2ms, max=1162.2ms + compile_mujoco: mean=902.0ms, total=902.0ms, count=1, min=902.0ms, max=902.0ms + scene_init: mean=213.1ms, total=213.1ms, count=1, min=213.1ms, max=213.1ms + task_sampling_failed: mean=198.4ms, total=198.4ms, count=1, min=198.4ms, max=198.4ms + compile_xml_load: mean=185.9ms, total=185.9ms, count=1, min=185.9ms, max=185.9ms + compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + scene_randomize: mean=2.3ms, total=41.2ms, count=18, min=1.1ms, max=3.4ms + asset_install_grasps: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + mj_forward_sync: mean=482.5us, total=8.7ms, count=18, min=0.4ms, max=0.7ms + compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:25:12 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:25:12 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4299.93s + Worker averages: + episode_total: mean=133.84s, total=2409.08s, count=18, min=198.4ms, max=215580.6ms + sensor_polling: mean=390.9ms, total=1592.84s, count=4075, min=360.8ms, max=996.2ms + save_trajectories: mean=11.24s, total=123.63s, count=11, min=10588.9ms, max=11911.6ms + physics_step: mean=23.6ms, total=96.27s, count=4075, min=14.9ms, max=49.3ms + save_batch_prep: mean=4.03s, total=44.31s, count=11, min=3694.1ms, max=4825.8ms + task_sampling: mean=829.2ms, total=14.10s, count=17, min=430.3ms, max=4804.0ms + task_specific_sample: mean=569.4ms, total=10.25s, count=18, min=192.0ms, max=1095.2ms + scene_load: mean=3.97s, total=3.97s, count=1, min=3971.2ms, max=3971.2ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2541.8ms, max=2541.8ms + scene_compile: mean=1.16s, total=1.16s, count=1, min=1162.2ms, max=1162.2ms + compile_mujoco: mean=902.0ms, total=902.0ms, count=1, min=902.0ms, max=902.0ms + scene_init: mean=213.1ms, total=213.1ms, count=1, min=213.1ms, max=213.1ms + task_sampling_failed: mean=198.4ms, total=198.4ms, count=1, min=198.4ms, max=198.4ms + compile_xml_load: mean=185.9ms, total=185.9ms, count=1, min=185.9ms, max=185.9ms + compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + scene_randomize: mean=2.3ms, total=41.2ms, count=18, min=1.1ms, max=3.4ms + asset_install_grasps: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms + asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms + mj_forward_sync: mean=482.5us, total=8.7ms, count=18, min=0.4ms, max=0.7ms + compile_robot_add: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:25:15 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:25:15 INFO: Success count: 11, Total count: 12 [pipeline.py: 1491] +05/12 12:25:15 INFO: Success rate: 91.67% [pipeline.py: 1492] +05/12 12:25:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:25:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:25:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:25:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:26:08 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:26:39 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:26:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:26:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:26:50 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:26:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:26:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:26:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 17.12s (batch: 5.85s, save: 11.26s) [pipeline.py: 300] +05/12 12:26:57 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.00s: + episode_total: mean=96.18s, total=192.36s, count=2, min=9913.7ms, max=182443.5ms + sensor_polling: mean=407.0ms, total=122.10s, count=300, min=372.6ms, max=1020.8ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11264.6ms, max=11264.6ms + physics_step: mean=24.8ms, total=7.44s, count=300, min=16.9ms, max=34.9ms + save_batch_prep: mean=5.85s, total=5.85s, count=1, min=5850.5ms, max=5850.5ms + task_sampling: mean=501.7ms, total=1.00s, count=2, min=488.6ms, max=514.9ms + task_specific_sample: mean=497.7ms, total=995.3ms, count=2, min=484.1ms, max=511.2ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=460.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + 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 12:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:26:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:26:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:26:59 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 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032178m [env.py: 870] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76410845 0.03187166 0.03217779] yaw=148.0deg [env.py: 1019] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92316414 1.19182397 0.03217779] yaw=-151.8deg [env.py: 1019] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91174299 0.7025117 0.03217779] yaw=-189.7deg [env.py: 1019] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.0ms, total=168.0ms [env.py: 1075] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.032, 0.032) [env.py: 1079] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.0 deg [env.py: 1082] +05/12 12:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:26:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:26:59 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 12:26:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 12:26:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:26:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:26:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.317s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.599[m] 96.172[deg] [grasp_sample.py: 539] +05/12 12:27:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:27:06 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:27:17 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:27:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:27:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:27:32 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:27:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:27:32 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/12 12:27:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:27:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:27:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.04s (batch: 4.00s, save: 11.04s) [pipeline.py: 300] +05/12 12:27:33 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.55s: + episode_total: mean=184.13s, total=184.13s, count=1, min=184128.3ms, max=184128.3ms + sensor_polling: mean=423.6ms, total=127.09s, count=300, min=389.9ms, max=887.7ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11039.7ms, max=11039.7ms + physics_step: mean=23.5ms, total=7.06s, count=300, min=16.8ms, max=33.5ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.4ms, max=4003.4ms + task_sampling: mean=545.9ms, total=545.9ms, count=1, min=545.9ms, max=545.9ms + task_specific_sample: mean=541.5ms, total=541.5ms, count=1, min=541.5ms, max=541.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=467.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:27:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:27:34 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 12:27:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:27:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009105m [env.py: 870] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:27:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77631525 0.41981913 0.00910467] yaw=159.8deg [env.py: 1019] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76760143 0.72046325 0.00910467] yaw=-127.5deg [env.py: 1019] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94453056 0.45647446 0.00910467] yaw=178.6deg [env.py: 1019] +05/12 12:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.3ms, total=247.4ms [env.py: 1075] +05/12 12:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.420, 0.009) [env.py: 1079] +05/12 12:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg [env.py: 1082] +05/12 12:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/12 12:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:27:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 12:27:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:35 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 12:27:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.915s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.453[m] 83.241[deg] [grasp_sample.py: 539] +05/12 12:27:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:37 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 12:27:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:27:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:27:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.61s (batch: 3.80s, save: 10.82s) [pipeline.py: 300] +05/12 12:27:47 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.60s: + episode_total: mean=178.37s, total=178.37s, count=1, min=178371.5ms, max=178371.5ms + sensor_polling: mean=429.0ms, total=125.71s, count=293, min=398.0ms, max=1011.6ms + save_trajectories: mean=10.82s, total=10.82s, count=1, min=10815.1ms, max=10815.1ms + physics_step: mean=24.0ms, total=7.02s, count=293, min=21.7ms, max=30.7ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3798.8ms, max=3798.8ms + task_sampling: mean=600.1ms, total=600.1ms, count=1, min=600.1ms, max=600.1ms + task_specific_sample: mean=595.7ms, total=595.7ms, count=1, min=595.7ms, max=595.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=465.7us, 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 12:27:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:27:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:27:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:27:50 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 12:27:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:27:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099482m [env.py: 870] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:27:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15970436 1.13374978 0.09948152] yaw=-131.3deg [env.py: 1019] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68237609 0.69331988 0.09948152] yaw=-145.9deg [env.py: 1019] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91811949 0.56363511 0.09948152] yaw=-149.1deg [env.py: 1019] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:27:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.2ms [env.py: 1075] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.160, 1.134, 0.099) [env.py: 1079] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg [env.py: 1082] +05/12 12:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:27:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:27:50 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/12 12:27:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:27:50 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 12:27:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:27:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:27:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.042s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:27:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 89.179[deg] [grasp_sample.py: 539] +05/12 12:27:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:27:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:27:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:27:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:28:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:28:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:28:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:28:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:28:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:29:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:29:16 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 12:29:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:29:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:29:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.635s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:29:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.319[deg] [grasp_sample.py: 539] +05/12 12:29:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:29:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:29:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:29:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:29:37 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:51 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:29:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:29:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:29:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:29:58 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 12:29:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:29:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.857s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.624[deg] [grasp_sample.py: 539] +05/12 12:30:02 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:30:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:30:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:30:04 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 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068033m [env.py: 870] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:30:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94804045 0.79190835 0.06803253] yaw=-168.9deg [env.py: 1019] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76724153 0.69585461 0.06803253] yaw=-146.7deg [env.py: 1019] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.9ms, total=225.9ms [env.py: 1075] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.792, 0.068) [env.py: 1079] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg [env.py: 1082] +05/12 12:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:30:04 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 12:30:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:05 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 12:30:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.894s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 89.074[deg] [grasp_sample.py: 539] +05/12 12:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:07 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:30:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:30:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:30:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:30:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:30:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:30:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:30:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:30:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.67s (batch: 4.75s, save: 10.92s) [pipeline.py: 300] +05/12 12:30:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s: + episode_total: mean=205.00s, total=205.00s, count=1, min=205000.2ms, max=205000.2ms + sensor_polling: mean=422.0ms, total=126.61s, count=300, min=376.7ms, max=956.4ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10921.7ms, max=10921.7ms + physics_step: mean=25.1ms, total=7.52s, count=300, min=15.8ms, max=37.3ms + save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4746.2ms, max=4746.2ms + task_sampling: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms + task_specific_sample: mean=484.1ms, total=484.1ms, count=1, min=484.1ms, max=484.1ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=523.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:30:25 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 12:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:30:25 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 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021223m [env.py: 870] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88013164 0.12315681 0.02122309] yaw=165.5deg [env.py: 1019] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91406544 0.62317599 0.02122309] yaw=-158.9deg [env.py: 1019] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86419879 0.48270096 0.02122309] yaw=-194.8deg [env.py: 1019] +05/12 12:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=403.5ms, total=403.5ms [env.py: 1075] +05/12 12:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.123, 0.021) [env.py: 1079] +05/12 12:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg [env.py: 1082] +05/12 12:30:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 12:30:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:30:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 12:30:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:30:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.960s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.478[m] 98.297[deg] [grasp_sample.py: 539] +05/12 12:30:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:28 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 12:30:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:30:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:30:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.33s (batch: 3.89s, save: 11.44s) [pipeline.py: 300] +05/12 12:30:32 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.59s: + episode_total: mean=178.12s, total=178.12s, count=1, min=178122.4ms, max=178122.4ms + sensor_polling: mean=415.5ms, total=124.64s, count=300, min=388.5ms, max=919.4ms + save_trajectories: mean=11.44s, total=11.44s, count=1, min=11439.2ms, max=11439.2ms + physics_step: mean=24.4ms, total=7.31s, count=300, min=16.8ms, max=30.6ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3893.0ms, max=3893.0ms + task_sampling: mean=593.8ms, total=593.8ms, count=1, min=593.8ms, max=593.8ms + task_specific_sample: mean=589.5ms, total=589.5ms, count=1, min=589.5ms, max=589.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=459.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:30:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:30:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:30:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:30:34 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 12:30:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:30:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060305m [env.py: 870] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:30:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82561371 0.94586988 0.06030528] yaw=-163.9deg [env.py: 1019] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70261444 0.4029418 0.06030528] yaw=139.2deg [env.py: 1019] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89047274 1.07504514 0.06030528] yaw=-109.1deg [env.py: 1019] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.4ms, total=146.5ms [env.py: 1075] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.946, 0.060) [env.py: 1079] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.9 deg [env.py: 1082] +05/12 12:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:30:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:30:34 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/12 12:30:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 12:30:34 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 12:30:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:30:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:30:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.856s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:30:38 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.597[m] 96.922[deg] [grasp_sample.py: 539] +05/12 12:30:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:30:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:30:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:30:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:30:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:31:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:31:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:31:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:22 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:32:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:32:28 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 12:32:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:32:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:32:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:32:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.400[deg] [grasp_sample.py: 539] +05/12 12:32:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:32:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:32:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:32:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:32:52 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:32:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:32:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:32:55 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:32:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:32:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:33:08 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:33:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:33:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:33:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 17.67s (batch: 6.09s, save: 11.58s) [pipeline.py: 300] +05/12 12:33:11 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.91s: + episode_total: mean=159.68s, total=319.36s, count=2, min=132741.1ms, max=186621.2ms + sensor_polling: mean=425.3ms, total=234.77s, count=552, min=396.6ms, max=1022.3ms + physics_step: mean=23.9ms, total=13.18s, count=552, min=21.0ms, max=32.6ms + save_trajectories: mean=11.58s, total=11.58s, count=1, min=11581.2ms, max=11581.2ms + save_batch_prep: mean=6.09s, total=6.09s, count=1, min=6091.4ms, max=6091.4ms + task_sampling: mean=454.8ms, total=909.6ms, count=2, min=405.3ms, max=504.3ms + task_specific_sample: mean=450.7ms, total=901.4ms, count=2, min=400.6ms, max=500.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.0ms + mj_forward_sync: mean=464.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=21.7us, 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 12:33:14 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:33:14 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:33:14 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes [pipeline.py: 1323] +05/12 12:33:14 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5254.44s + House averages: + episode_total: mean=160.35s, total=2886.21s, count=18, min=3333.8ms, max=225312.1ms + sensor_polling: mean=434.5ms, total=2045.22s, count=4707, min=390.6ms, max=1109.3ms + save_trajectories: mean=11.33s, total=124.58s, count=11, min=10390.0ms, max=12630.3ms + physics_step: mean=24.5ms, total=115.50s, count=4707, min=15.4ms, max=64.3ms + save_batch_prep: mean=4.49s, total=49.36s, count=11, min=3705.0ms, max=6091.4ms + task_sampling: mean=770.5ms, total=13.87s, count=18, min=381.3ms, max=4946.6ms + task_specific_sample: mean=534.5ms, total=9.62s, count=18, min=377.2ms, max=773.0ms + scene_load: mean=4.17s, total=4.17s, count=1, min=4170.1ms, max=4170.1ms + scene_env_create: mean=2.40s, total=2.40s, count=1, min=2402.0ms, max=2402.0ms + scene_compile: mean=1.59s, total=1.59s, count=1, min=1585.4ms, max=1585.4ms + compile_mujoco: mean=955.7ms, total=955.7ms, count=1, min=955.7ms, max=955.7ms + compile_xml_load: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms + scene_init: mean=118.4ms, total=118.4ms, count=1, min=118.4ms, max=118.4ms + compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms + compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms + scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms + asset_install_grasps: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms + scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.2ms + compile_robot_add: mean=24.3ms, total=24.3ms, count=1, min=24.3ms, max=24.3ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=459.7us, total=8.3ms, count=18, min=0.4ms, max=0.5ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=25.7us, 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 12:33:14 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:33:14 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5254.44s + Worker averages: + episode_total: mean=160.35s, total=2886.21s, count=18, min=3333.8ms, max=225312.1ms + sensor_polling: mean=434.5ms, total=2045.22s, count=4707, min=390.6ms, max=1109.3ms + save_trajectories: mean=11.33s, total=124.58s, count=11, min=10390.0ms, max=12630.3ms + physics_step: mean=24.5ms, total=115.50s, count=4707, min=15.4ms, max=64.3ms + save_batch_prep: mean=4.49s, total=49.36s, count=11, min=3705.0ms, max=6091.4ms + task_sampling: mean=770.5ms, total=13.87s, count=18, min=381.3ms, max=4946.6ms + task_specific_sample: mean=534.5ms, total=9.62s, count=18, min=377.2ms, max=773.0ms + scene_load: mean=4.17s, total=4.17s, count=1, min=4170.1ms, max=4170.1ms + scene_env_create: mean=2.40s, total=2.40s, count=1, min=2402.0ms, max=2402.0ms + scene_compile: mean=1.59s, total=1.59s, count=1, min=1585.4ms, max=1585.4ms + compile_mujoco: mean=955.7ms, total=955.7ms, count=1, min=955.7ms, max=955.7ms + compile_xml_load: mean=515.1ms, total=515.1ms, count=1, min=515.1ms, max=515.1ms + scene_init: mean=118.4ms, total=118.4ms, count=1, min=118.4ms, max=118.4ms + compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms + compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms + scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms + asset_install_grasps: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms + scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.2ms + compile_robot_add: mean=24.3ms, total=24.3ms, count=1, min=24.3ms, max=24.3ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + mj_forward_sync: mean=459.7us, total=8.3ms, count=18, min=0.4ms, max=0.5ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=25.7us, 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 12:33:19 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:33:19 INFO: Success count: 11, Total count: 11 [pipeline.py: 1491] +05/12 12:33:19 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 12:33:19 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:33:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:33:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:33:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:33:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:33:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.43s (batch: 3.40s, save: 12.03s) [pipeline.py: 300] +05/12 12:33:35 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.47s: + episode_total: mean=181.44s, total=181.44s, count=1, min=181439.2ms, max=181439.2ms + sensor_polling: mean=420.9ms, total=126.28s, count=300, min=388.7ms, max=954.0ms + save_trajectories: mean=12.03s, total=12.03s, count=1, min=12025.5ms, max=12025.5ms + physics_step: mean=23.6ms, total=7.07s, count=300, min=16.7ms, max=33.1ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3404.9ms, max=3404.9ms + task_sampling: mean=473.4ms, total=473.4ms, count=1, min=473.4ms, max=473.4ms + task_specific_sample: mean=469.4ms, total=469.4ms, count=1, min=469.4ms, max=469.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=451.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, 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 12:33:37 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:33:37 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:33:37 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes [pipeline.py: 1323] +05/12 12:33:37 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5223.30s + House averages: + episode_total: mean=161.90s, total=2914.27s, count=18, min=6217.2ms, max=204014.1ms + sensor_polling: mean=423.5ms, total=1946.30s, count=4596, min=380.9ms, max=969.0ms + save_trajectories: mean=11.30s, total=158.13s, count=14, min=10927.9ms, max=12025.5ms + physics_step: mean=24.5ms, total=112.40s, count=4596, min=15.6ms, max=83.6ms + save_batch_prep: mean=4.20s, total=58.80s, count=14, min=3404.9ms, max=4755.0ms + task_sampling: mean=776.6ms, total=13.98s, count=18, min=418.6ms, max=5236.0ms + task_specific_sample: mean=547.7ms, total=9.86s, count=18, min=412.1ms, max=1189.9ms + scene_load: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms + scene_env_create: mean=2.52s, total=2.52s, count=1, min=2522.5ms, max=2522.5ms + scene_compile: mean=1.31s, total=1.31s, count=1, min=1314.4ms, max=1314.4ms + compile_mujoco: mean=940.9ms, total=940.9ms, count=1, min=940.9ms, max=940.9ms + compile_xml_load: mean=281.8ms, total=281.8ms, count=1, min=281.8ms, max=281.8ms + scene_init: mean=145.4ms, total=145.4ms, count=1, min=145.4ms, max=145.4ms + scene_asset_install: mean=59.9ms, total=59.9ms, count=1, min=59.9ms, max=59.9ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.6ms, total=47.0ms, count=18, min=1.4ms, max=3.3ms + asset_install_grasps: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_robot_add: mean=24.4ms, total=24.4ms, count=1, min=24.4ms, max=24.4ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + mj_forward_sync: mean=494.9us, total=8.9ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:33:37 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:33:37 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5223.30s + Worker averages: + episode_total: mean=161.90s, total=2914.27s, count=18, min=6217.2ms, max=204014.1ms + sensor_polling: mean=423.5ms, total=1946.30s, count=4596, min=380.9ms, max=969.0ms + save_trajectories: mean=11.30s, total=158.13s, count=14, min=10927.9ms, max=12025.5ms + physics_step: mean=24.5ms, total=112.40s, count=4596, min=15.6ms, max=83.6ms + save_batch_prep: mean=4.20s, total=58.80s, count=14, min=3404.9ms, max=4755.0ms + task_sampling: mean=776.6ms, total=13.98s, count=18, min=418.6ms, max=5236.0ms + task_specific_sample: mean=547.7ms, total=9.86s, count=18, min=412.1ms, max=1189.9ms + scene_load: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms + scene_env_create: mean=2.52s, total=2.52s, count=1, min=2522.5ms, max=2522.5ms + scene_compile: mean=1.31s, total=1.31s, count=1, min=1314.4ms, max=1314.4ms + compile_mujoco: mean=940.9ms, total=940.9ms, count=1, min=940.9ms, max=940.9ms + compile_xml_load: mean=281.8ms, total=281.8ms, count=1, min=281.8ms, max=281.8ms + scene_init: mean=145.4ms, total=145.4ms, count=1, min=145.4ms, max=145.4ms + scene_asset_install: mean=59.9ms, total=59.9ms, count=1, min=59.9ms, max=59.9ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.6ms, total=47.0ms, count=18, min=1.4ms, max=3.3ms + asset_install_grasps: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_robot_add: mean=24.4ms, total=24.4ms, count=1, min=24.4ms, max=24.4ms + asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + mj_forward_sync: mean=494.9us, total=8.9ms, count=18, min=0.5ms, max=0.7ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:33:37 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [pipeline.py: 1174] +05/12 12:33:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:33:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:33:40 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:33:40 INFO: Success count: 14, Total count: 14 [pipeline.py: 1491] +05/12 12:33:40 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/12 12:33:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:33:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_013 [save_utils.py: 785] +05/12 12:33:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.40s (batch: 4.98s, save: 10.42s) [pipeline.py: 300] +05/12 12:33:53 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.72s: + episode_total: mean=208.03s, total=208.03s, count=1, min=208034.9ms, max=208034.9ms + sensor_polling: mean=421.3ms, total=126.40s, count=300, min=383.9ms, max=1011.8ms + save_trajectories: mean=10.42s, total=10.42s, count=1, min=10421.7ms, max=10421.7ms + physics_step: mean=25.1ms, total=7.53s, count=300, min=15.0ms, max=36.8ms + save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4975.9ms, max=4975.9ms + task_sampling: mean=719.5ms, total=719.5ms, count=1, min=719.5ms, max=719.5ms + task_specific_sample: mean=715.4ms, total=715.4ms, count=1, min=715.4ms, max=715.4ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=451.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:33:55 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:33:55 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/12 12:33:55 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes [pipeline.py: 1323] +05/12 12:33:55 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5142.00s + House averages: + episode_total: mean=162.79s, total=2930.30s, count=18, min=4806.5ms, max=208034.9ms + sensor_polling: mean=408.4ms, total=1847.88s, count=4525, min=362.8ms, max=1020.8ms + save_trajectories: mean=11.04s, total=154.50s, count=14, min=10421.7ms, max=11515.1ms + physics_step: mean=24.8ms, total=112.41s, count=4525, min=15.0ms, max=110.6ms + save_batch_prep: mean=4.55s, total=63.76s, count=14, min=3923.7ms, max=5850.5ms + task_sampling: mean=767.7ms, total=13.82s, count=18, min=397.1ms, max=4861.2ms + task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=390.1ms, max=780.7ms + scene_load: mean=4.08s, total=4.08s, count=1, min=4077.1ms, max=4077.1ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2542.8ms, max=2542.8ms + scene_compile: mean=1.36s, total=1.36s, count=1, min=1360.0ms, max=1360.0ms + compile_mujoco: mean=835.7ms, total=835.7ms, count=1, min=835.7ms, max=835.7ms + compile_xml_load: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms + scene_init: mean=119.4ms, total=119.4ms, count=1, min=119.4ms, max=119.4ms + scene_asset_install: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.6ms, total=47.0ms, count=18, min=1.8ms, max=3.6ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + mj_forward_sync: mean=473.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/12 12:33:55 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/12 12:33:55 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5142.00s + Worker averages: + episode_total: mean=162.79s, total=2930.30s, count=18, min=4806.5ms, max=208034.9ms + sensor_polling: mean=408.4ms, total=1847.88s, count=4525, min=362.8ms, max=1020.8ms + save_trajectories: mean=11.04s, total=154.50s, count=14, min=10421.7ms, max=11515.1ms + physics_step: mean=24.8ms, total=112.41s, count=4525, min=15.0ms, max=110.6ms + save_batch_prep: mean=4.55s, total=63.76s, count=14, min=3923.7ms, max=5850.5ms + task_sampling: mean=767.7ms, total=13.82s, count=18, min=397.1ms, max=4861.2ms + task_specific_sample: mean=536.8ms, total=9.66s, count=18, min=390.1ms, max=780.7ms + scene_load: mean=4.08s, total=4.08s, count=1, min=4077.1ms, max=4077.1ms + scene_env_create: mean=2.54s, total=2.54s, count=1, min=2542.8ms, max=2542.8ms + scene_compile: mean=1.36s, total=1.36s, count=1, min=1360.0ms, max=1360.0ms + compile_mujoco: mean=835.7ms, total=835.7ms, count=1, min=835.7ms, max=835.7ms + compile_xml_load: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms + scene_init: mean=119.4ms, total=119.4ms, count=1, min=119.4ms, max=119.4ms + scene_asset_install: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms + compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + scene_randomize: mean=2.6ms, total=47.0ms, count=18, min=1.8ms, max=3.6ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=24.5ms, total=24.5ms, count=1, min=24.5ms, max=24.5ms + asset_install_objects: mean=11.9ms, total=11.9ms, count=1, min=11.9ms, max=11.9ms + mj_forward_sync: mean=473.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=23.3us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/12 12:33:57 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/12 12:33:57 INFO: Success count: 14, Total count: 14 [pipeline.py: 1491] +05/12 12:33:57 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge_m_0.7_pd/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 index 5f09e05abb972836d29818e717b52dee32c146a1..bd52b28e55878a3ee7d4597e407b8f2837972e03 100644 --- a/fridge_m_0.7_pd/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 +++ b/fridge_m_0.7_pd/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version 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-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_014'), + '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': 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'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 12:35:16 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 12:35:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:35:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:35:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 12:35:16 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 12:35:16 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 12:35:16 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_014'), + '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': 51401, + '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 12:35:16 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 12:35:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:35:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:35:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 12:35:16 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 12:35:16 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 12:35:16 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_014'), + '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': 51404, + '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 12:35:16 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 12:35:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:35:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:35:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/12 12:35:16 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 12:35:16 INFO: Evaluation configuration: [pipeline.py: 1366] +05/12 12:35:16 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_014'), + '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': 51403, + '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 12:35:16 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 12:35:16 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/12 12:35:16 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/12 12:35:17 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:35:17 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:35:17 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:35:17 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/12 12:35:20 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 12:35:20 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:35:20 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 12:35:20 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:35:20 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 12:35:20 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:35:20 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 12:35:20 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/12 12:35:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:35:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:35:20 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 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081317m [env.py: 870] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:35:20 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 12:35:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:35:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:35:20 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 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060695m [env.py: 870] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:35:20 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 12:35:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:35:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/12 12:35:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:35:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:35:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086261m [env.py: 870] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:35:20 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 12:35:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:35:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:35:20 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 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026397m [env.py: 870] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:35:20 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 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86706548 0.25488782 0.0606946 ] yaw=147.5deg [env.py: 1019] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92862074 0.56907592 0.0606946 ] yaw=-154.9deg [env.py: 1019] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75159041 0.35788982 0.0606946 ] yaw=183.4deg [env.py: 1019] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:35:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=27.1ms, retries=140.9ms, total=168.0ms [env.py: 1075] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 0.255, 0.061) [env.py: 1079] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.5 deg [env.py: 1082] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79723413 0.43661413 0.08626072] yaw=204.2deg [env.py: 1019] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78279669 0.91565898 0.08131674] yaw=-150.9deg [env.py: 1019] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72417714 0.16341753 0.02639666] yaw=187.5deg [env.py: 1019] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88638661 0.89289005 0.02639666] yaw=-168.8deg [env.py: 1019] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04759294 1.16527549 0.08626072] yaw=-154.9deg [env.py: 1019] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76677015 0.13563215 0.02639666] yaw=196.4deg [env.py: 1019] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:35:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=28.0ms, retries=425.7ms, total=453.7ms [env.py: 1075] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.724, 0.163, 0.026) [env.py: 1079] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.5 deg [env.py: 1082] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87185598 0.59267645 0.08626072] yaw=-180.6deg [env.py: 1019] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:35:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=46.2ms, retries=418.2ms, total=464.4ms [env.py: 1075] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.437, 0.086) [env.py: 1079] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 204.2 deg [env.py: 1082] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:35:21 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75913832 0.20693796 0.08131674] yaw=153.6deg [env.py: 1019] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76948431 0.35035197 0.08131674] yaw=172.8deg [env.py: 1019] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:35:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=793.5ms, total=814.6ms [env.py: 1075] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.916, 0.081) [env.py: 1079] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg [env.py: 1082] +05/12 12:35:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:35:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:35:21 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 12:35:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:35:21 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 12:35:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:35:21 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/12 12:35:55 INFO: [Worker 0] Warmed up parallel IK solver in 34.292s [base_object_manipulation_planner_policy.py: 377] +05/12 12:35:55 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 12:35:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:55 INFO: [Worker 0] Warmed up parallel IK solver in 34.235s [base_object_manipulation_planner_policy.py: 377] +05/12 12:35:55 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 12:35:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.904s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.452[m] 92.114[deg] [grasp_sample.py: 539] +05/12 12:35:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:57 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 12:35:57 INFO: [Worker 0] Warmed up parallel IK solver in 36.602s [base_object_manipulation_planner_policy.py: 377] +05/12 12:35:58 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 12:35:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:58 INFO: [Worker 0] Warmed up parallel IK solver in 36.937s [base_object_manipulation_planner_policy.py: 377] +05/12 12:35:58 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 12:35:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:35:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:35:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.794s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.613[m] 94.084[deg] [grasp_sample.py: 539] +05/12 12:35:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:35:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:35:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:35:59 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 12:35:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.733s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:35:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 79.331[deg] [grasp_sample.py: 539] +05/12 12:35:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:36:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:36:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:00 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 12:36:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.887s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:36:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 90.735[deg] [grasp_sample.py: 539] +05/12 12:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:36:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:36:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:36:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:36:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:36:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:36:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:37:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:37:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:37:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:37:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:37:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:37:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:37:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:37:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:37:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:37:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.697s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:37:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.803[deg] [grasp_sample.py: 539] +05/12 12:37:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:37:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:37:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:38:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:38:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:38:14 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:38:15 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:38:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:38:31 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:38:31 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:38:41 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:38:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:38:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:38:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:38:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:38:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:38:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:38:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:38:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.15s (batch: 4.67s, save: 11.48s) [pipeline.py: 300] +05/12 12:38:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:38:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:38:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.66s (batch: 4.46s, save: 11.21s) [pipeline.py: 300] +05/12 12:38:58 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.91s: + episode_total: mean=221.90s, total=221.90s, count=1, min=221901.9ms, max=221901.9ms + sensor_polling: mean=418.2ms, total=125.46s, count=300, min=393.3ms, max=690.9ms + save_trajectories: mean=11.48s, total=11.48s, count=1, min=11484.0ms, max=11484.0ms + physics_step: mean=24.2ms, total=7.26s, count=300, min=19.0ms, max=32.9ms + task_sampling: mean=4.91s, total=4.91s, count=1, min=4911.7ms, max=4911.7ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4665.8ms, max=4665.8ms + scene_load: mean=3.75s, total=3.75s, count=1, min=3745.9ms, max=3745.9ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2438.9ms, max=2438.9ms + task_specific_sample: mean=1.16s, total=1.16s, count=1, min=1162.9ms, max=1162.9ms + scene_compile: mean=1.13s, total=1.13s, count=1, min=1133.2ms, max=1133.2ms + compile_mujoco: mean=834.9ms, total=834.9ms, count=1, min=834.9ms, max=834.9ms + compile_xml_load: mean=203.4ms, total=203.4ms, count=1, min=203.4ms, max=203.4ms + scene_init: mean=119.4ms, total=119.4ms, count=1, min=119.4ms, max=119.4ms + scene_asset_install: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms + compile_aux_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + compile_aux_policy_objects: mean=53.5ms, total=53.5ms, count=1, min=53.5ms, max=53.5ms + asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms + compile_robot_add: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=11.6ms, total=11.6ms, count=1, min=11.6ms, max=11.6ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=445.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=46.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:38:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:38:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:38:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:38:59 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.76s: + episode_total: mean=222.62s, total=222.62s, count=1, min=222618.2ms, max=222618.2ms + sensor_polling: mean=414.0ms, total=124.21s, count=300, min=380.4ms, max=715.5ms + save_trajectories: mean=11.21s, total=11.21s, count=1, min=11206.1ms, max=11206.1ms + physics_step: mean=25.1ms, total=7.54s, count=300, min=18.6ms, max=35.5ms + task_sampling: mean=4.76s, total=4.76s, count=1, min=4758.7ms, max=4758.7ms + save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4456.1ms, max=4456.1ms + scene_load: mean=3.95s, total=3.95s, count=1, min=3945.0ms, max=3945.0ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2444.3ms, max=2444.3ms + scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.4ms, max=1317.4ms + compile_mujoco: mean=897.3ms, total=897.3ms, count=1, min=897.3ms, max=897.3ms + task_specific_sample: mean=810.5ms, total=810.5ms, count=1, min=810.5ms, max=810.5ms + compile_xml_load: mean=321.6ms, total=321.6ms, count=1, min=321.6ms, max=321.6ms + scene_init: mean=126.2ms, total=126.2ms, count=1, min=126.2ms, max=126.2ms + scene_asset_install: mean=56.9ms, total=56.9ms, count=1, min=56.9ms, max=56.9ms + compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms + asset_install_grasps: mean=38.4ms, total=38.4ms, count=1, min=38.4ms, max=38.4ms + compile_robot_add: mean=29.1ms, total=29.1ms, count=1, min=29.1ms, max=29.1ms + asset_install_objects: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms + asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=595.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=36.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:39:00 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:39:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:39:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:39:00 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 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005220m [env.py: 870] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97168363 0.09376203 0.00521969] yaw=125.0deg [env.py: 1019] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17951267 1.04676089 0.00521969] yaw=-152.9deg [env.py: 1019] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94885428 0.49312818 0.00521969] yaw=-215.9deg [env.py: 1019] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.1ms, total=209.1ms [env.py: 1075] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.094, 0.005) [env.py: 1079] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 125.0 deg [env.py: 1082] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:39:00 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 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056808m [env.py: 870] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:39:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70585054 0.7269349 0.05680772] yaw=-202.2deg [env.py: 1019] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 12:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8225393 0.57764819 0.05680772] yaw=-203.5deg [env.py: 1019] +05/12 12:39:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.7ms, total=199.8ms [env.py: 1075] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.727, 0.057) [env.py: 1079] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -202.2 deg [env.py: 1082] +05/12 12:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:39:01 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 12:39:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:39:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:39:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.955s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.483[m] 97.004[deg] [grasp_sample.py: 539] +05/12 12:39:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:39:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:39:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:39:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.719[m] 88.533[deg] [grasp_sample.py: 539] +05/12 12:39:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:39:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:39:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:39:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:39:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.62s (batch: 4.60s, save: 11.02s) [pipeline.py: 300] +05/12 12:39:15 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.00s: + episode_total: mean=239.33s, total=239.33s, count=1, min=239330.1ms, max=239330.1ms + sensor_polling: mean=420.4ms, total=126.12s, count=300, min=401.4ms, max=717.4ms + save_trajectories: mean=11.02s, total=11.02s, count=1, min=11023.2ms, max=11023.2ms + physics_step: mean=24.0ms, total=7.20s, count=300, min=18.0ms, max=33.8ms + task_sampling: mean=5.00s, total=5.00s, count=1, min=5004.2ms, max=5004.2ms + save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4596.1ms, max=4596.1ms + scene_load: mean=4.16s, total=4.16s, count=1, min=4160.0ms, max=4160.0ms + scene_env_create: mean=2.40s, total=2.40s, count=1, min=2395.3ms, max=2395.3ms + scene_compile: mean=1.58s, total=1.58s, count=1, min=1578.4ms, max=1578.4ms + compile_mujoco: mean=930.8ms, total=930.8ms, count=1, min=930.8ms, max=930.8ms + task_specific_sample: mean=839.4ms, total=839.4ms, count=1, min=839.4ms, max=839.4ms + compile_xml_load: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms + scene_init: mean=128.9ms, total=128.9ms, count=1, min=128.9ms, max=128.9ms + compile_aux_objects: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + compile_aux_policy_objects: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms + scene_asset_install: mean=57.0ms, total=57.0ms, count=1, min=57.0ms, max=57.0ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + asset_install_scene: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=601.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=52.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 12:39:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:39:17 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 12:39:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:39:17 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 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075995m [env.py: 870] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:39:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9784209 0.23998194 0.07599514] yaw=164.0deg [env.py: 1019] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8689555 0.08169581 0.07599514] yaw=155.5deg [env.py: 1019] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69103588 0.14118186 0.07599514] yaw=125.1deg [env.py: 1019] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:39:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.5ms, total=103.6ms [env.py: 1075] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.240, 0.076) [env.py: 1079] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.0 deg [env.py: 1082] +05/12 12:39:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m [env.py: 1086] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:39:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:39:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.10s (batch: 5.96s, save: 11.13s) [pipeline.py: 300] +05/12 12:39:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:39:17 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 12:39:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 12:39:17 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 12:39:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:18 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.57s: + episode_total: mean=241.82s, total=241.82s, count=1, min=241816.9ms, max=241816.9ms + sensor_polling: mean=420.0ms, total=126.01s, count=300, min=379.6ms, max=734.3ms + save_trajectories: mean=11.13s, total=11.13s, count=1, min=11132.0ms, max=11132.0ms + physics_step: mean=26.2ms, total=7.86s, count=300, min=20.1ms, max=34.5ms + save_batch_prep: mean=5.96s, total=5.96s, count=1, min=5963.1ms, max=5963.1ms + task_sampling: mean=4.57s, total=4.57s, count=1, min=4574.1ms, max=4574.1ms + scene_load: mean=4.02s, total=4.02s, count=1, min=4023.0ms, max=4023.0ms + scene_env_create: mean=2.50s, total=2.50s, count=1, min=2502.0ms, max=2502.0ms + scene_compile: mean=1.35s, total=1.35s, count=1, min=1346.3ms, max=1346.3ms + compile_mujoco: mean=817.7ms, total=817.7ms, count=1, min=817.7ms, max=817.7ms + task_specific_sample: mean=547.6ms, total=547.6ms, count=1, min=547.6ms, max=547.6ms + compile_xml_load: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms + scene_init: mean=116.1ms, total=116.1ms, count=1, min=116.1ms, max=116.1ms + scene_asset_install: mean=58.1ms, total=58.1ms, count=1, min=58.1ms, max=58.1ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + asset_install_grasps: mean=39.9ms, total=39.9ms, count=1, min=39.9ms, max=39.9ms + compile_robot_add: mean=29.0ms, total=29.0ms, count=1, min=29.0ms, max=29.0ms + asset_install_objects: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=612.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=66.0us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/12 12:39:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.743s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.303[m] 86.425[deg] [grasp_sample.py: 539] +05/12 12:39:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:39:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:39:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:39:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:39:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:39:19 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 12:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:39:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041801m [env.py: 870] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.872958 0.52991604 0.04180086] yaw=-173.9deg [env.py: 1019] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89815805 1.21838858 0.04180086] yaw=-125.7deg [env.py: 1019] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88917364 0.44229119 0.04180086] yaw=207.4deg [env.py: 1019] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:39:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.7ms, total=157.8ms [env.py: 1075] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.873, 0.530, 0.042) [env.py: 1079] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg [env.py: 1082] +05/12 12:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:39:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:39:20 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/12 12:39:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/12 12:39:20 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 12:39:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:39:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:39:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:39:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.402[m] 93.741[deg] [grasp_sample.py: 539] +05/12 12:39:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:39:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:39:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:22 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 12:39:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:39:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:39:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:39:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:40:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:40:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:40:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:40:44 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 12:40:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:40:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:40:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.597s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:40:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.446[deg] [grasp_sample.py: 539] +05/12 12:40:47 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:40:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:40:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:40:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:40:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:40:48 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 12:40:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:40:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098963m [env.py: 870] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:40:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05767958 1.27776363 0.09896278] yaw=-146.4deg [env.py: 1019] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81471081 0.27454219 0.09896278] yaw=131.9deg [env.py: 1019] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78146521 0.01103148 0.09896278] yaw=182.4deg [env.py: 1019] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:40:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=290.1ms, total=290.2ms [env.py: 1075] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.278, 0.099) [env.py: 1079] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.4 deg [env.py: 1082] +05/12 12:40:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:40:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:40:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:40:49 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 12:40:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/12 12:40:49 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 12:40:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:40:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.371s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:40:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.689[m] 93.133[deg] [grasp_sample.py: 539] +05/12 12:40:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:40:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:41:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:41:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:41:05 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 12:41:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:41:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:41:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.678s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:41:06 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.619[deg] [grasp_sample.py: 539] +05/12 12:41:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:41:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:41:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:41:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:41:17 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:41:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:41:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:41:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:41:36 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:41:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:41:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:41:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:41:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:41:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:42:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:42:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.72s (batch: 6.05s, save: 11.67s) [pipeline.py: 300] +05/12 12:42:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:42:04 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.49s: + episode_total: mean=183.74s, total=183.74s, count=1, min=183735.1ms, max=183735.1ms + sensor_polling: mean=395.3ms, total=118.59s, count=300, min=365.7ms, max=724.6ms + save_trajectories: mean=11.67s, total=11.67s, count=1, min=11669.1ms, max=11669.1ms + physics_step: mean=23.9ms, total=7.18s, count=300, min=17.5ms, max=32.5ms + save_batch_prep: mean=6.05s, total=6.05s, count=1, min=6046.9ms, max=6046.9ms + task_sampling: mean=493.9ms, total=493.9ms, count=1, min=493.9ms, max=493.9ms + task_specific_sample: mean=489.7ms, total=489.7ms, count=1, min=489.7ms, max=489.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=451.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.8us, 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 12:42:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:42:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:42:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:42:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:42:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:42:06 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 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077086m [env.py: 870] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:42:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94563504 0.19803674 0.07708618] yaw=156.6deg [env.py: 1019] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9744035 1.02553935 0.07708618] yaw=-168.3deg [env.py: 1019] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79733829 0.72126904 0.07708618] yaw=-161.1deg [env.py: 1019] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:42:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.4ms, total=230.4ms [env.py: 1075] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.198, 0.077) [env.py: 1079] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.6 deg [env.py: 1082] +05/12 12:42:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:42:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 12:42:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.216s [base_object_manipulation_planner_policy.py: 377] +05/12 12:42:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:42:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:42:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:42:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:42:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.876s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.332[m] 85.348[deg] [grasp_sample.py: 539] +05/12 12:42:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:42:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:42:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:42:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:42:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:42:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:42:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:42:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:42:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.96s (batch: 4.62s, save: 11.34s) [pipeline.py: 300] +05/12 12:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:24 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s: + episode_total: mean=184.70s, total=184.70s, count=1, min=184699.8ms, max=184699.8ms + sensor_polling: mean=416.5ms, total=124.95s, count=300, min=392.1ms, max=739.5ms + save_trajectories: mean=11.34s, total=11.34s, count=1, min=11339.4ms, max=11339.4ms + physics_step: mean=25.1ms, total=7.54s, count=300, min=21.7ms, max=36.0ms + save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4621.7ms, max=4621.7ms + task_sampling: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms + task_specific_sample: mean=447.2ms, total=447.2ms, count=1, min=447.2ms, max=447.2ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=467.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=30.8us, 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 12:42:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:42:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:42:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:42:25 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 12:42:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:42:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086543m [env.py: 870] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:42:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77041014 0.77997547 0.08654266] yaw=-177.5deg [env.py: 1019] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85302578 0.73151599 0.08654266] yaw=-150.1deg [env.py: 1019] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82846584 0.09914072 0.08654266] yaw=141.9deg [env.py: 1019] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=300.2ms, total=300.3ms [env.py: 1075] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.780, 0.087) [env.py: 1079] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg [env.py: 1082] +05/12 12:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 12:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:42:26 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 12:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 12:42:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:42:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.993s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 84.316[deg] [grasp_sample.py: 539] +05/12 12:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:42:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:42:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:42:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.57s (batch: 7.64s, save: 10.93s) [pipeline.py: 300] +05/12 12:42:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:42:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:29 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.49s: + episode_total: mean=208.78s, total=208.78s, count=1, min=208776.7ms, max=208776.7ms + sensor_polling: mean=424.9ms, total=127.48s, count=300, min=396.3ms, max=778.5ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10930.6ms, max=10930.6ms + save_batch_prep: mean=7.64s, total=7.64s, count=1, min=7639.0ms, max=7639.0ms + physics_step: mean=24.5ms, total=7.35s, count=300, min=15.4ms, max=36.1ms + task_sampling: mean=491.0ms, total=491.0ms, count=1, min=491.0ms, max=491.0ms + task_specific_sample: mean=486.6ms, total=486.6ms, count=1, min=486.6ms, max=486.6ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=447.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=42.2us, 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 12:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:42:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:42:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:42:31 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 12:42:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:42:31 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 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062217m [env.py: 870] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:42:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03864796 1.12601776 0.06221663] yaw=-136.4deg [env.py: 1019] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94913567 0.6139243 0.06221663] yaw=-200.5deg [env.py: 1019] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69426814 0.89600969 0.06221663] yaw=-141.3deg [env.py: 1019] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:42:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.1ms, total=207.2ms [env.py: 1075] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 1.126, 0.062) [env.py: 1079] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.4 deg [env.py: 1082] +05/12 12:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:42:31 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/12 12:42:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.184s [base_object_manipulation_planner_policy.py: 377] +05/12 12:42:31 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 12:42:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.817s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:35 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.505[m] 84.222[deg] [grasp_sample.py: 539] +05/12 12:42:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:42:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:42:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:42:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:42:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:42:36 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 12:42:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.726s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:40 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/12 12:42:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:42:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:42:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:42:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:42:41 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 12:42:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:42:41 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 12:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039872m [env.py: 870] +05/12 12:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:42:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84486784 0.77546355 0.03987171] yaw=-166.2deg [env.py: 1019] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:42:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=539.7ms, total=539.7ms [env.py: 1075] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.775, 0.040) [env.py: 1079] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg [env.py: 1082] +05/12 12:42:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/12 12:42:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:42:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:42:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:42:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:42:42 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 12:42:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/12 12:42:42 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 12:42:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:42:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:42:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.416s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:42:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 84.458[deg] [grasp_sample.py: 539] +05/12 12:42:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:42:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:42:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:42:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:43:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:43:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:43:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:43:35 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 12:43:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:43:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:43:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.655s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:43:36 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.220[deg] [grasp_sample.py: 539] +05/12 12:43:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:43:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:43:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:43:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:43:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:43:39 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 12:43:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:43:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095555m [env.py: 870] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:43:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93156995 0.48922022 0.0955553 ] yaw=-179.4deg [env.py: 1019] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85733557 0.64644389 0.0955553 ] yaw=-194.5deg [env.py: 1019] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.12505936 1.01365934 0.0955553 ] yaw=-169.0deg [env.py: 1019] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:43:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=190.3ms, total=190.3ms [env.py: 1075] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.489, 0.096) [env.py: 1079] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.4 deg [env.py: 1082] +05/12 12:43:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m [env.py: 1086] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:43:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:43:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:43:39 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 12:43:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 12:43:39 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 12:43:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:43:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:43:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:43:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.354[m] 99.709[deg] [grasp_sample.py: 539] +05/12 12:43:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:43:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:43:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:43:41 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 12:44:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:44:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:44:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:36 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:44:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:44:45 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 12:44:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.758s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:44:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.692[deg] [grasp_sample.py: 539] +05/12 12:44:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:44:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:44:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:44:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:44:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:44:57 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 12:44:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:44:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:44:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.660s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:44:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.426[deg] [grasp_sample.py: 539] +05/12 12:44:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:44:58 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:44:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:44:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:44:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:45:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:45:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:45:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:07 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:45:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:45:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:45:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:45:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.09s (batch: 4.20s, save: 11.89s) [pipeline.py: 300] +05/12 12:45:20 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.62s: + episode_total: mean=174.46s, total=174.46s, count=1, min=174456.3ms, max=174456.3ms + sensor_polling: mean=396.7ms, total=119.02s, count=300, min=368.6ms, max=814.9ms + save_trajectories: mean=11.89s, total=11.89s, count=1, min=11888.9ms, max=11888.9ms + physics_step: mean=24.5ms, total=7.35s, count=300, min=17.0ms, max=93.0ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4199.2ms, max=4199.2ms + task_sampling: mean=615.7ms, total=615.7ms, count=1, min=615.7ms, max=615.7ms + task_specific_sample: mean=611.4ms, total=611.4ms, count=1, min=611.4ms, max=611.4ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=450.4us, 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 12:45:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:45:21 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 12:45:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:45:21 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 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073498m [env.py: 870] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:45:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01088205 0.81205096 0.0734975 ] yaw=-136.8deg [env.py: 1019] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07974005 0.94088671 0.0734975 ] yaw=-142.7deg [env.py: 1019] +05/12 12:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72356259 0.88094254 0.0734975 ] yaw=-159.2deg [env.py: 1019] +05/12 12:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:45:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.3ms, total=176.4ms [env.py: 1075] +05/12 12:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 0.812, 0.073) [env.py: 1079] +05/12 12:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg [env.py: 1082] +05/12 12:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m [env.py: 1086] +05/12 12:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:45:22 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 12:45:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/12 12:45:22 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 12:45:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:45:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 87.575[deg] [grasp_sample.py: 539] +05/12 12:45:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:45:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:45:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:27 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:45:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:45:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:45:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:45:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:45:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:45:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:45:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:45:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.94s (batch: 3.88s, save: 11.06s) [pipeline.py: 300] +05/12 12:45:42 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.76s: + episode_total: mean=127.53s, total=382.60s, count=3, min=89897.5ms, max=181046.2ms + sensor_polling: mean=428.6ms, total=277.76s, count=648, min=385.8ms, max=923.0ms + physics_step: mean=25.5ms, total=16.53s, count=648, min=16.9ms, max=119.6ms + save_trajectories: mean=11.06s, total=11.06s, count=1, min=11060.7ms, max=11060.7ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.9ms, max=3882.9ms + task_sampling: mean=587.4ms, total=1.76s, count=3, min=393.6ms, max=815.8ms + task_specific_sample: mean=583.3ms, total=1.75s, count=3, min=389.3ms, max=812.3ms + scene_randomize: mean=2.1ms, total=6.4ms, count=3, min=1.4ms, max=2.8ms + mj_forward_sync: mean=521.8us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=21.6us, 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 12:45:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:45:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:45:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:45:44 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 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059433m [env.py: 870] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:45:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80447741 0.09170127 0.05943316] yaw=117.0deg [env.py: 1019] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71135369 0.64186877 0.05943316] yaw=-178.6deg [env.py: 1019] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:45:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.1ms, total=250.2ms [env.py: 1075] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 0.092, 0.059) [env.py: 1079] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 117.0 deg [env.py: 1082] +05/12 12:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:45:44 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 12:45:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/12 12:45:44 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 12:45:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.100s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:45:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.692[m] 112.554[deg] [grasp_sample.py: 539] +05/12 12:45:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:45:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:45:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:47 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 12:45:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:45:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:45:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.20s (batch: 5.71s, save: 11.49s) [pipeline.py: 300] +05/12 12:45:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:45:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s: + episode_total: mean=203.74s, total=203.74s, count=1, min=203743.8ms, max=203743.8ms + sensor_polling: mean=431.8ms, total=129.53s, count=300, min=394.2ms, max=903.2ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11492.4ms, max=11492.4ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=16.8ms, max=31.3ms + save_batch_prep: mean=5.71s, total=5.71s, count=1, min=5706.9ms, max=5706.9ms + task_sampling: mean=597.6ms, total=597.6ms, count=1, min=597.6ms, max=597.6ms + task_specific_sample: mean=590.9ms, total=590.9ms, count=1, min=590.9ms, max=590.9ms + scene_randomize: mean=5.3ms, total=5.3ms, count=1, min=5.3ms, max=5.3ms + mj_forward_sync: mean=452.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.9us, 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 12:45:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:45:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:45:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:45:57 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 12:45:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:45:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012984m [env.py: 870] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:45:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87252021 0.14100769 0.01298369] yaw=117.8deg [env.py: 1019] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6286222 0.50567225 0.01298369] yaw=-212.0deg [env.py: 1019] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81629607 0.10912142 0.01298369] yaw=130.0deg [env.py: 1019] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:45:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=200.5ms, total=200.6ms [env.py: 1075] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.873, 0.141, 0.013) [env.py: 1079] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 117.8 deg [env.py: 1082] +05/12 12:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:45:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:45:58 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/12 12:45:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 12:45:58 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 12:45:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:45:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:45:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.257s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:45:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.590[m] 95.347[deg] [grasp_sample.py: 539] +05/12 12:45:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:46:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:46:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:00 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 12:46:01 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:46:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:46:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:46:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:46:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:46:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:46:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:46:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.39s (batch: 4.13s, save: 11.26s) [pipeline.py: 300] +05/12 12:46:45 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.24s: + episode_total: mean=138.87s, total=277.73s, count=2, min=90954.2ms, max=186776.2ms + sensor_polling: mean=401.9ms, total=188.88s, count=470, min=371.5ms, max=857.8ms + physics_step: mean=24.9ms, total=11.70s, count=470, min=15.1ms, max=46.9ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11256.1ms, max=11256.1ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4133.5ms, max=4133.5ms + task_sampling: mean=622.3ms, total=1.24s, count=2, min=544.8ms, max=699.8ms + task_specific_sample: mean=616.5ms, total=1.23s, count=2, min=540.2ms, max=692.8ms + scene_randomize: mean=3.9ms, total=7.8ms, count=2, min=2.3ms, max=5.5ms + mj_forward_sync: mean=540.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=23.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:46:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:46:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:46:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:46:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:46:47 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 12:46:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:46:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008409m [env.py: 870] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:46:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86056969 0.59549887 0.00840894] yaw=-189.5deg [env.py: 1019] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7517694 0.40892708 0.00840894] yaw=177.3deg [env.py: 1019] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94157233 0.59946975 0.00840894] yaw=-185.7deg [env.py: 1019] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:46:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms [env.py: 1075] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.595, 0.008) [env.py: 1079] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.5 deg [env.py: 1082] +05/12 12:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:46:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:46:47 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 12:46:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/12 12:46:47 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 12:46:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:46:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:46:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.699s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:46:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.450[m] 94.929[deg] [grasp_sample.py: 539] +05/12 12:46:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:46:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:46:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:49 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 12:46:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:46:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:47:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:47:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:47:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:47:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:47:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:47:31 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:47:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:47:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:47:58 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:47:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:47:58 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/12 12:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:48:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:48:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.43s (batch: 4.11s, save: 11.32s) [pipeline.py: 300] +05/12 12:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:48:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:48:14 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 12:48:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:15 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.49s: + episode_total: mean=173.26s, total=173.26s, count=1, min=173258.8ms, max=173258.8ms + sensor_polling: mean=399.9ms, total=118.76s, count=297, min=373.5ms, max=804.5ms + save_trajectories: mean=11.32s, total=11.32s, count=1, min=11317.3ms, max=11317.3ms + physics_step: mean=24.0ms, total=7.14s, count=297, min=16.7ms, max=62.1ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4108.3ms, max=4108.3ms + task_sampling: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms + task_specific_sample: mean=480.8ms, total=480.8ms, count=1, min=480.8ms, max=480.8ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=491.4us, 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 12:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.733s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.193[deg] [grasp_sample.py: 539] +05/12 12:48:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:48:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:48:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:48:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:48:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:48:16 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 12:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099550m [env.py: 870] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17964911 1.06784755 0.09955035] yaw=-133.8deg [env.py: 1019] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99030148 0.96084155 0.09955035] yaw=-151.1deg [env.py: 1019] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81885383 1.04441388 0.09955035] yaw=-119.9deg [env.py: 1019] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.4ms [env.py: 1075] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.180, 1.068, 0.100) [env.py: 1079] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg [env.py: 1082] +05/12 12:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m [env.py: 1086] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:48:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:48:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 12:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 12:48:16 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 12:48:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 95.064[deg] [grasp_sample.py: 539] +05/12 12:48:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:48:18 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:48:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:48:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:48:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:48:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:18 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 12:48:19 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.671s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:19 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.332[deg] [grasp_sample.py: 539] +05/12 12:48:20 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:48:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:48:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:48:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:48:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:48:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:48:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:48:23 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 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072863m [env.py: 870] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:48:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6998689 0.80900838 0.07286263] yaw=-149.8deg [env.py: 1019] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81195127 1.06642596 0.07286263] yaw=-107.1deg [env.py: 1019] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69993374 0.17720048 0.07286263] yaw=142.5deg [env.py: 1019] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:48:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=370.1ms, total=370.2ms [env.py: 1075] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.809, 0.073) [env.py: 1079] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg [env.py: 1082] +05/12 12:48:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:48:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:48:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:48:23 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/12 12:48:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/12 12:48:23 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 12:48:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.755s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 97.367[deg] [grasp_sample.py: 539] +05/12 12:48:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:48:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:48:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:48:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:48:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:48:37 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 12:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.665s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.584[deg] [grasp_sample.py: 539] +05/12 12:48:39 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:48:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:48:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:48:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:48:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:48:41 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 12:48:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:48:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088165m [env.py: 870] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:48:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62013241 0.45281172 0.08816519] yaw=189.6deg [env.py: 1019] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07375003 1.15913369 0.08816519] yaw=-108.8deg [env.py: 1019] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74740606 0.2587979 0.08816519] yaw=139.3deg [env.py: 1019] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:48:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=540.7ms, total=540.7ms [env.py: 1075] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.620, 0.453, 0.088) [env.py: 1079] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.6 deg [env.py: 1082] +05/12 12:48:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:48:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:48:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:48:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 12:48:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 12:48:41 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 12:48:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:48:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:48:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.173s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:48:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 86.950[deg] [grasp_sample.py: 539] +05/12 12:48:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:48:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:48:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:44 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 12:48:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:48:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:48:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:48:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:48:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:49:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:49:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:49:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.82s (batch: 4.99s, save: 10.83s) [pipeline.py: 300] +05/12 12:49:04 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.56s: + episode_total: mean=199.96s, total=199.96s, count=1, min=199962.9ms, max=199962.9ms + sensor_polling: mean=433.4ms, total=130.02s, count=300, min=390.7ms, max=968.8ms + save_trajectories: mean=10.83s, total=10.83s, count=1, min=10832.0ms, max=10832.0ms + physics_step: mean=24.9ms, total=7.47s, count=300, min=15.5ms, max=35.1ms + save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4990.1ms, max=4990.1ms + task_sampling: mean=559.8ms, total=559.8ms, count=1, min=559.8ms, max=559.8ms + task_specific_sample: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=458.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:49:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:49:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:49:05 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 12:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:49:05 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 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051428m [env.py: 870] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94104001 1.22836066 0.05142832] yaw=-154.3deg [env.py: 1019] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9751392 0.77751116 0.05142832] yaw=-145.4deg [env.py: 1019] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6967184 0.34851949 0.05142832] yaw=198.0deg [env.py: 1019] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.6ms, total=172.6ms [env.py: 1075] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 1.228, 0.051) [env.py: 1079] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.3 deg [env.py: 1082] +05/12 12:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:49:05 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 12:49:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:49:06 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 12:49:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:49:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:49:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.545s, found feasible grasp: False [grasp_sample.py: 500] +05/12 12:49:08 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 12:49:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:49:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:49:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:49:10 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 12:49:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:49:10 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 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050042m [env.py: 870] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:49:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86993603 0.05703157 0.05004206] yaw=120.7deg [env.py: 1019] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84572682 0.2963822 0.05004206] yaw=154.7deg [env.py: 1019] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94359324 0.14149359 0.05004206] yaw=175.7deg [env.py: 1019] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:49:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=91.0ms, total=91.1ms [env.py: 1075] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.057, 0.050) [env.py: 1079] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 120.7 deg [env.py: 1082] +05/12 12:49:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:49:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:49:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:49:10 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 12:49:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/12 12:49:11 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 12:49:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:49:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:49:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.115s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:49:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.565[m] 91.493[deg] [grasp_sample.py: 539] +05/12 12:49:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:49:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:49:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:13 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 12:49:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:49:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:49:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:49:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:50:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:50:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:50:18 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 12:50:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:50:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 12:50:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:50:21 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.773s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:50:21 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.121[deg] [grasp_sample.py: 539] +05/12 12:50:23 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:50:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:50:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:50:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:50:25 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 12:50:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:50:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003605m [env.py: 870] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:50:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92476452 0.77817227 0.00360497] yaw=-158.3deg [env.py: 1019] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67141932 0.74009598 0.00360497] yaw=-184.7deg [env.py: 1019] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00121545 1.27035981 0.00360497] yaw=-147.4deg [env.py: 1019] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:50:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.9ms, total=119.9ms [env.py: 1075] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.778, 0.004) [env.py: 1079] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg [env.py: 1082] +05/12 12:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:50:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:50:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 12:50:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s [base_object_manipulation_planner_policy.py: 377] +05/12 12:50:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:50:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:50:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:50:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.933s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:50:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 82.820[deg] [grasp_sample.py: 539] +05/12 12:50:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:50:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:50:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:41 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:50:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:50:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:51:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:51:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:51:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:51:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:51:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:51:25 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:51:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:51:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:51:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:51:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:51:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.97s (batch: 5.36s, save: 10.61s) [pipeline.py: 300] +05/12 12:51:26 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.18s: + episode_total: mean=163.41s, total=326.81s, count=2, min=143134.4ms, max=183678.2ms + sensor_polling: mean=420.0ms, total=244.84s, count=583, min=389.2ms, max=915.1ms + physics_step: mean=23.0ms, total=13.41s, count=583, min=16.7ms, max=32.3ms + save_trajectories: mean=10.61s, total=10.61s, count=1, min=10614.7ms, max=10614.7ms + save_batch_prep: mean=5.36s, total=5.36s, count=1, min=5359.3ms, max=5359.3ms + task_sampling: mean=589.1ms, total=1.18s, count=2, min=517.5ms, max=660.6ms + task_specific_sample: mean=585.3ms, total=1.17s, count=2, min=513.2ms, max=657.4ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=480.2us, total=1.0ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=27.0us, 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 12:51:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:51:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:51:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:51:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:51:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:51:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:51:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015490m [env.py: 870] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:51:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82772585 0.21544139 0.01548958] yaw=127.4deg [env.py: 1019] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64869622 0.7831914 0.01548958] yaw=-138.0deg [env.py: 1019] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89934028 0.47660865 0.01548958] yaw=194.0deg [env.py: 1019] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:51:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.9ms [env.py: 1075] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.215, 0.015) [env.py: 1079] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 127.4 deg [env.py: 1082] +05/12 12:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:51:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:51:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:51:29 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/12 12:51:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 12:51:29 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 12:51:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:51:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:51:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:51:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.577[m] 93.596[deg] [grasp_sample.py: 539] +05/12 12:51:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:51:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:51:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:51:31 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 12:51:37 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:51:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:51:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:51:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.99s (batch: 4.44s, save: 11.55s) [pipeline.py: 300] +05/12 12:51:42 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.28s: + episode_total: mean=146.69s, total=293.38s, count=2, min=112367.7ms, max=181017.1ms + sensor_polling: mean=407.1ms, total=213.32s, count=524, min=365.7ms, max=959.5ms + physics_step: mean=24.7ms, total=12.95s, count=524, min=17.6ms, max=67.1ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11552.1ms, max=11552.1ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4436.1ms, max=4436.1ms + task_sampling: mean=640.6ms, total=1.28s, count=2, min=459.9ms, max=821.3ms + task_specific_sample: mean=636.8ms, total=1.27s, count=2, min=456.0ms, max=817.6ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.5ms + mj_forward_sync: mean=456.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.6us, 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 12:51:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:51:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:51:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:51:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:51:43 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 12:51:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:51:43 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 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022227m [env.py: 870] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:51:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93817768 0.16987028 0.02222694] yaw=155.7deg [env.py: 1019] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81175469 0.46836429 0.02222694] yaw=192.5deg [env.py: 1019] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76630051 1.04826667 0.02222694] yaw=-129.6deg [env.py: 1019] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:51:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1075] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.170, 0.022) [env.py: 1079] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg [env.py: 1082] +05/12 12:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:51:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:51:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:51:43 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 12:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/12 12:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:51:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:51:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:51:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.912s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:51:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.394[m] 96.079[deg] [grasp_sample.py: 539] +05/12 12:51:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:51:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:51:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:51:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:52:03 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:52:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:52:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:52:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:52:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:52:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.19s (batch: 3.41s, save: 10.78s) [pipeline.py: 300] +05/12 12:52:18 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.32s: + episode_total: mean=95.66s, total=191.32s, count=2, min=3215.6ms, max=188102.9ms + sensor_polling: mean=447.9ms, total=134.37s, count=300, min=399.0ms, max=949.5ms + save_trajectories: mean=10.78s, total=10.78s, count=1, min=10776.0ms, max=10776.0ms + physics_step: mean=25.3ms, total=7.58s, count=300, min=19.8ms, max=36.4ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3409.2ms, max=3409.2ms + task_sampling: mean=662.3ms, total=1.32s, count=2, min=476.7ms, max=847.9ms + task_specific_sample: mean=658.6ms, total=1.32s, count=2, min=472.6ms, max=844.7ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=450.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=20.2us, 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 12:52:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:52:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:52:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:52:19 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 12:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:52:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069102m [env.py: 870] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92439104 0.92442966 0.06910166] yaw=-144.0deg [env.py: 1019] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13766992 0.9799954 0.06910166] yaw=-119.3deg [env.py: 1019] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71705163 0.7345841 0.06910166] yaw=-193.2deg [env.py: 1019] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:52:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=134.8ms, total=134.9ms [env.py: 1075] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.924, 0.069) [env.py: 1079] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.0 deg [env.py: 1082] +05/12 12:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:52:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:52:20 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 12:52:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/12 12:52:20 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 12:52:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:52:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:52:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.922s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:52:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 93.898[deg] [grasp_sample.py: 539] +05/12 12:52:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:52:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:52:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:52:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:52:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:52:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:52:33 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:52:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:52:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:01 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:53:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:53:01 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/12 12:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:53:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:53:14 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 12:53:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:53:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:53:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:53:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.869s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:53:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.196[deg] [grasp_sample.py: 539] +05/12 12:53:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:53:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:53:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:53:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:53:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.59s (batch: 5.57s, save: 11.03s) [pipeline.py: 300] +05/12 12:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:19 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.95s: + episode_total: mean=149.92s, total=299.84s, count=2, min=126620.9ms, max=173218.9ms + sensor_polling: mean=396.6ms, total=218.14s, count=550, min=370.2ms, max=810.7ms + physics_step: mean=23.6ms, total=13.00s, count=550, min=16.8ms, max=36.9ms + save_trajectories: mean=11.03s, total=11.03s, count=1, min=11025.4ms, max=11025.4ms + save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5565.6ms, max=5565.6ms + task_sampling: mean=472.6ms, total=945.1ms, count=2, min=446.4ms, max=498.7ms + task_specific_sample: mean=466.9ms, total=933.7ms, count=2, min=442.5ms, max=491.2ms + scene_randomize: mean=3.6ms, total=7.1ms, count=2, min=2.5ms, max=4.6ms + mj_forward_sync: mean=456.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=21.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:53:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:53:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:53:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:53:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:53:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:53:21 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 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039931m [env.py: 870] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:53:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92058312 0.6993827 0.03993054] yaw=-167.4deg [env.py: 1019] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89960124 0.90941255 0.03993054] yaw=-113.6deg [env.py: 1019] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86061909 0.34637841 0.03993054] yaw=181.6deg [env.py: 1019] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:53:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms [env.py: 1075] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 0.699, 0.040) [env.py: 1079] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg [env.py: 1082] +05/12 12:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:53:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:53:21 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 12:53:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/12 12:53:21 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 12:53:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:53:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:53:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.942s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:53:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 71.428[deg] [grasp_sample.py: 539] +05/12 12:53:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:53:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:53:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:53:23 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 12:53:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:53:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 12:53:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:53:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:53:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.356[deg] [grasp_sample.py: 539] +05/12 12:53:25 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:53:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:53:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:53:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:53:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:53:26 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 12:53:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:53:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071807m [env.py: 870] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:53:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78563742 0.79484776 0.07180689] yaw=-197.1deg [env.py: 1019] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85660146 0.5035425 0.07180689] yaw=-146.9deg [env.py: 1019] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87517868 0.67467265 0.07180689] yaw=-188.3deg [env.py: 1019] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:53:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.0ms, total=76.0ms [env.py: 1075] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.795, 0.072) [env.py: 1079] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -197.1 deg [env.py: 1082] +05/12 12:53:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:53:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:53:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:53:26 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 12:53:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/12 12:53:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:53:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:53:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:53:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.906s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:53:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.619[m] 81.589[deg] [grasp_sample.py: 539] +05/12 12:53:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:53:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:53:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:53:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:53:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:54:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:54:18 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:54:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:54:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:54:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:54:39 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:54:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:54:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:54:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:55:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:55:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:55:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.41s (batch: 4.80s, save: 11.61s) [pipeline.py: 300] +05/12 12:55:02 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s: + episode_total: mean=213.62s, total=213.62s, count=1, min=213617.7ms, max=213617.7ms + sensor_polling: mean=430.8ms, total=129.23s, count=300, min=409.7ms, max=966.3ms + save_trajectories: mean=11.61s, total=11.61s, count=1, min=11608.2ms, max=11608.2ms + physics_step: mean=23.6ms, total=7.09s, count=300, min=15.4ms, max=59.7ms + save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4800.2ms, max=4800.2ms + task_sampling: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms + task_specific_sample: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=461.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:55:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:55:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:55:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:55:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:55:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:55:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:55:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014927m [env.py: 870] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:55:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79176936 0.54035103 0.01492693] yaw=-211.3deg [env.py: 1019] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:55:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:55:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 12:55:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76774735 0.97343573 0.01492693] yaw=-166.6deg [env.py: 1019] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8433894 0.33125985 0.01492693] yaw=187.6deg [env.py: 1019] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:55:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.1ms [env.py: 1075] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.540, 0.015) [env.py: 1079] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -211.3 deg [env.py: 1082] +05/12 12:55:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:55:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:55:04 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/12 12:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 12:55:05 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 12:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:55:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.619s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:55:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.612[m] 102.740[deg] [grasp_sample.py: 539] +05/12 12:55:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:55:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:55:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:55:10 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 12:55:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:55:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:55:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.06s (batch: 3.72s, save: 11.33s) [pipeline.py: 300] +05/12 12:55:20 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.43s: + episode_total: mean=180.51s, total=180.51s, count=1, min=180513.7ms, max=180513.7ms + sensor_polling: mean=426.4ms, total=127.91s, count=300, min=393.0ms, max=963.3ms + save_trajectories: mean=11.33s, total=11.33s, count=1, min=11333.0ms, max=11333.0ms + physics_step: mean=24.7ms, total=7.42s, count=300, min=21.5ms, max=34.1ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3722.6ms, max=3722.6ms + task_sampling: mean=433.1ms, total=433.1ms, count=1, min=433.1ms, max=433.1ms + task_specific_sample: mean=428.4ms, total=428.4ms, count=1, min=428.4ms, max=428.4ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=463.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:55:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:55:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:55:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:55:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:55:21 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 12:55:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:55:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070549m [env.py: 870] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:55:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79955538 0.4122437 0.07054862] yaw=137.0deg [env.py: 1019] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73918437 0.54177306 0.07054862] yaw=-141.2deg [env.py: 1019] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88011002 0.19436096 0.07054862] yaw=189.0deg [env.py: 1019] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:55:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.0ms, total=182.0ms [env.py: 1075] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.412, 0.071) [env.py: 1079] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.0 deg [env.py: 1082] +05/12 12:55:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:55:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:55:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:55:22 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 12:55:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/12 12:55:22 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 12:55:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:55:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:55:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:55:22 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.573[m] 83.187[deg] [grasp_sample.py: 539] +05/12 12:55:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:55:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:55:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:55:29 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:55:38 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:55:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:55:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:55:57 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/12 12:56:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:56:06 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:56:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 12:56:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:56:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:56:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:56:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.33s (batch: 5.78s, save: 10.54s) [pipeline.py: 300] +05/12 12:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:14 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.51s: + episode_total: mean=173.72s, total=173.72s, count=1, min=173722.0ms, max=173722.0ms + sensor_polling: mean=407.9ms, total=116.67s, count=286, min=369.0ms, max=918.2ms + save_trajectories: mean=10.54s, total=10.54s, count=1, min=10543.8ms, max=10543.8ms + physics_step: mean=24.3ms, total=6.94s, count=286, min=21.5ms, max=35.8ms + save_batch_prep: mean=5.78s, total=5.78s, count=1, min=5784.9ms, max=5784.9ms + task_sampling: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms + task_specific_sample: mean=506.2ms, total=506.2ms, count=1, min=506.2ms, max=506.2ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=461.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.9us, 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 12:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:56:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:56:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:56:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:56:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:56:17 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 12:56:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:56:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086626m [env.py: 870] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:56:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91099855 0.60630108 0.08662646] yaw=-131.4deg [env.py: 1019] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:56:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86511961 0.79232922 0.08662646] yaw=-151.9deg [env.py: 1019] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82822332 0.65205193 0.08662646] yaw=-208.9deg [env.py: 1019] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:56:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.0ms, total=193.1ms [env.py: 1075] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.606, 0.087) [env.py: 1079] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.4 deg [env.py: 1082] +05/12 12:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:56:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:56:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 12:56:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/12 12:56:18 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 12:56:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:56:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.095s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:56:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 78.515[deg] [grasp_sample.py: 539] +05/12 12:56:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:56:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:56:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:56:20 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 12:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:56:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:56:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:56:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.44s (batch: 4.16s, save: 11.29s) [pipeline.py: 300] +05/12 12:56:22 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.89s: + episode_total: mean=138.78s, total=277.55s, count=2, min=101763.0ms, max=175788.7ms + sensor_polling: mean=400.4ms, total=198.18s, count=495, min=365.9ms, max=1029.7ms + physics_step: mean=24.4ms, total=12.06s, count=495, min=16.7ms, max=36.2ms + save_trajectories: mean=11.29s, total=11.29s, count=1, min=11288.9ms, max=11288.9ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4155.5ms, max=4155.5ms + task_sampling: mean=446.1ms, total=892.3ms, count=2, min=344.2ms, max=548.1ms + task_specific_sample: mean=441.8ms, total=883.6ms, count=2, min=339.9ms, max=543.7ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.9ms, max=2.9ms + mj_forward_sync: mean=457.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=19.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:56:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:56:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:56:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:56:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:56:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:56:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:56:23 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 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043537m [env.py: 870] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:56:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68394562 0.25755685 0.04353695] yaw=138.0deg [env.py: 1019] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74426383 0.81680568 0.04353695] yaw=-193.4deg [env.py: 1019] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99601436 0.76339991 0.04353695] yaw=-190.7deg [env.py: 1019] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:56:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=284.5ms, total=284.6ms [env.py: 1075] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.684, 0.258, 0.044) [env.py: 1079] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.0 deg [env.py: 1082] +05/12 12:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:56:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:56:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:56:24 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 12:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:56:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:56:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:56:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:56:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:56:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:56:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 12:56:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:56:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:56:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:56:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.180s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:56:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.670[m] 94.116[deg] [grasp_sample.py: 539] +05/12 12:56:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:56:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:56:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:56:26 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 12:56:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:57:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:57:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:57:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:57:27 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:57:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:57:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:57:54 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:57:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 12:57:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:58:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:58:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:58:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 12:58:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.763s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:58:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.348[deg] [grasp_sample.py: 539] +05/12 12:58:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:58:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:58:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:58:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:58:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.02s (batch: 4.50s, save: 11.53s) [pipeline.py: 300] +05/12 12:58:11 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s: + episode_total: mean=186.93s, total=186.93s, count=1, min=186925.2ms, max=186925.2ms + sensor_polling: mean=422.3ms, total=126.68s, count=300, min=397.1ms, max=984.7ms + save_trajectories: mean=11.53s, total=11.53s, count=1, min=11528.7ms, max=11528.7ms + physics_step: mean=24.1ms, total=7.23s, count=300, min=17.5ms, max=33.1ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4495.2ms, max=4495.2ms + task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms + task_specific_sample: mean=479.9ms, total=479.9ms, count=1, min=479.9ms, max=479.9ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=46.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 12:58:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:58:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:58:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:58:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:58:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:58:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:58:13 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 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032555m [env.py: 870] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:58:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66134751 0.72625681 0.03255539] yaw=-155.8deg [env.py: 1019] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92829207 0.84888589 0.03255539] yaw=-174.6deg [env.py: 1019] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84214379 0.83487052 0.03255539] yaw=-162.5deg [env.py: 1019] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:58:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=184.8ms, total=184.8ms [env.py: 1075] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.661, 0.726, 0.033) [env.py: 1079] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg [env.py: 1082] +05/12 12:58:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:58:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:58:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/12 12:58:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 12:58:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:58:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:58:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:58:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:58:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.324s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:58:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.683[m] 97.187[deg] [grasp_sample.py: 539] +05/12 12:58:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:58:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:58:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:17 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 12:58:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 112.783s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:58:17 INFO: [Worker 0] Feasible grasp found 119 (originally 4): w/ 0.293[m] 179.734[deg] [grasp_sample.py: 539] +05/12 12:58:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:58:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:58:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:30 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 12:58:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:58:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:58:34 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 12:58:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:58:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 12:58:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.007s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:58:36 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.638[deg] [grasp_sample.py: 539] +05/12 12:58:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:58:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:58:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:58:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:56 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 12:58:56 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.59s: + episode_total: mean=153.11s, total=153.11s, count=1, min=153105.6ms, max=153105.6ms + sensor_polling: mean=392.4ms, total=117.73s, count=300, min=363.2ms, max=883.6ms + physics_step: mean=22.8ms, total=6.83s, count=300, min=15.4ms, max=33.0ms + task_sampling: mean=585.0ms, total=585.0ms, count=1, min=585.0ms, max=585.0ms + task_specific_sample: mean=580.9ms, total=580.9ms, count=1, min=580.9ms, max=580.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=460.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=13.5us, 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 12:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:58:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:58:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:58:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:58:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:58:58 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 12:58:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:58:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054530m [env.py: 870] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:58:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77119033 0.19325829 0.0545305 ] yaw=147.6deg [env.py: 1019] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66200773 0.66618159 0.0545305 ] yaw=-207.5deg [env.py: 1019] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72161823 0.15793717 0.0545305 ] yaw=164.4deg [env.py: 1019] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:58:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.1ms [env.py: 1075] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.193, 0.055) [env.py: 1079] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.6 deg [env.py: 1082] +05/12 12:58:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:58:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:58:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:58:58 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 12:58:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/12 12:58:58 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 12:58:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:58:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 12:58:59 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 12:58:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 12:58:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 12:59:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:59:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.552[m] 88.360[deg] [grasp_sample.py: 539] +05/12 12:59:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:59:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:59:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 12:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 12:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 12:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 12:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 12:59:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 12:59:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 12:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 12:59:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:59:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 86 non-colliding grasps [grasp_sample.py: 465] +05/12 12:59:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 6.912s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:59:14 INFO: [Worker 0] Feasible grasp found 220 (originally 105): w/ 0.065[m] 10.276[deg] [grasp_sample.py: 539] +05/12 12:59:15 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 12:59:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 12:59:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 12:59:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.04s (batch: 5.95s, save: 11.09s) [pipeline.py: 300] +05/12 12:59:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:59:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:59:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:59:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:59:17 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 12:59:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:59:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094951m [env.py: 870] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:59:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76177533 0.20802376 0.09495133] yaw=150.5deg [env.py: 1019] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09350626 0.94615223 0.09495133] yaw=-104.4deg [env.py: 1019] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84789396 0.64865556 0.09495133] yaw=-144.1deg [env.py: 1019] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:59:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.5ms, total=236.5ms [env.py: 1075] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.208, 0.095) [env.py: 1079] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg [env.py: 1082] +05/12 12:59:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:59:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:59:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:59:17 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 12:59:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/12 12:59:17 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 12:59:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:59:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:59:18 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s: + episode_total: mean=180.64s, total=180.64s, count=1, min=180638.9ms, max=180638.9ms + sensor_polling: mean=396.6ms, total=118.98s, count=300, min=372.1ms, max=889.8ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11089.5ms, max=11089.5ms + physics_step: mean=23.8ms, total=7.13s, count=300, min=16.6ms, max=32.2ms + save_batch_prep: mean=5.95s, total=5.95s, count=1, min=5950.7ms, max=5950.7ms + task_sampling: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms + task_specific_sample: mean=493.0ms, total=493.0ms, count=1, min=493.0ms, max=493.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=459.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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 12:59:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.927s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:59:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.523[m] 83.777[deg] [grasp_sample.py: 539] +05/12 12:59:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:59:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:59:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:59:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 12:59:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:59:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 12:59:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 12:59:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:59:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 12:59:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 12:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 12:59:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045105m [env.py: 870] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 12:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64677363 0.25079427 0.0451049 ] yaw=130.7deg [env.py: 1019] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91618547 0.41919504 0.0451049 ] yaw=153.7deg [env.py: 1019] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 12:59:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.3ms [env.py: 1075] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.647, 0.251, 0.045) [env.py: 1079] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.7 deg [env.py: 1082] +05/12 12:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 12:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 12:59:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 12:59:20 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 12:59:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/12 12:59:20 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 12:59:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 12:59:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 12:59:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.563s, found feasible grasp: True [grasp_sample.py: 500] +05/12 12:59:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.699[m] 87.238[deg] [grasp_sample.py: 539] +05/12 12:59:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 12:59:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 12:59:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:59:24 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 12:59:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:59:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 12:59:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 12:59:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 12:59:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:00:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:00:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:00:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:00:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:00:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:00:33 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:00:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:00:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:00:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:00:59 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:00:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:00:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:01:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:01:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 13:01:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:01:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 13:01:01 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.900s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:01:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.028[m] 0.502[deg] [grasp_sample.py: 539] +05/12 13:01:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:01:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:01:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:01:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:01:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:01:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.31s (batch: 4.85s, save: 10.46s) [pipeline.py: 300] +05/12 13:01:15 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:01:16 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.49s: + episode_total: mean=182.84s, total=182.84s, count=1, min=182837.6ms, max=182837.6ms + sensor_polling: mean=426.1ms, total=127.84s, count=300, min=399.7ms, max=1179.6ms + save_trajectories: mean=10.46s, total=10.46s, count=1, min=10463.4ms, max=10463.4ms + physics_step: mean=22.4ms, total=6.73s, count=300, min=16.6ms, max=33.4ms + save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4847.5ms, max=4847.5ms + task_sampling: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms + task_specific_sample: mean=481.5ms, total=481.5ms, count=1, min=481.5ms, max=481.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=456.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:01:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:01:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:01:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:01:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:01:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:01:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:01:17 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 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001057m [env.py: 870] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:01:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08921233e+00 1.12115428e+00 1.05724987e-03] yaw=-109.5deg [env.py: 1019] +05/12 13:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:01:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.3ms, total=232.3ms [env.py: 1075] +05/12 13:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 1.121, 0.001) [env.py: 1079] +05/12 13:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.5 deg [env.py: 1082] +05/12 13:01:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/12 13:01:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:01:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:01:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:01:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:01:18 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/12 13:01:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/12 13:01:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 13:01:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:01:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:01:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.433s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:01:23 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.553[m] 102.001[deg] [grasp_sample.py: 539] +05/12 13:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:01:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:24 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 13:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:01:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:01:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 13:01:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:01:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 13:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:01:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:01:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:01:34 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 13:01:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:01:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 13:01:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.838s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:01:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.633[deg] [grasp_sample.py: 539] +05/12 13:01:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:01:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:01:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:37 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.594s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:01:37 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.647[deg] [grasp_sample.py: 539] +05/12 13:01:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:01:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:01:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:01:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:01:44 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:01:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:01:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:01:53 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:01:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/12 13:01:55 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.49s: + episode_total: mean=155.82s, total=155.82s, count=1, min=155824.3ms, max=155824.3ms + sensor_polling: mean=396.9ms, total=119.06s, count=300, min=374.5ms, max=863.3ms + physics_step: mean=22.6ms, total=6.77s, count=300, min=15.4ms, max=33.2ms + task_sampling: mean=489.3ms, total=489.3ms, count=1, min=489.3ms, max=489.3ms + task_specific_sample: mean=484.9ms, total=484.9ms, count=1, min=484.9ms, max=484.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=465.4us, 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 13:01:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:01:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:01:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:01:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:01:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:01:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:01:58 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 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000906m [env.py: 870] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:01:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78621532 0.08021595 0.00090615] yaw=124.0deg [env.py: 1019] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00655412e+00 1.20537826e+00 9.06153896e-04] yaw=-112.5deg [env.py: 1019] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:01:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.5ms, total=188.5ms [env.py: 1075] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.080, 0.001) [env.py: 1079] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 124.0 deg [env.py: 1082] +05/12 13:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:01:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:01:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:01:59 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 13:01:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/12 13:01:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 13:01:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:01:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:01:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:01:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:01:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.28s (batch: 4.39s, save: 10.88s) [pipeline.py: 300] +05/12 13:02:00 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.42s: + episode_total: mean=181.99s, total=181.99s, count=1, min=181990.4ms, max=181990.4ms + sensor_polling: mean=397.5ms, total=119.25s, count=300, min=369.2ms, max=999.5ms + save_trajectories: mean=10.88s, total=10.88s, count=1, min=10881.4ms, max=10881.4ms + physics_step: mean=24.8ms, total=7.45s, count=300, min=17.0ms, max=36.1ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4393.6ms, max=4393.6ms + task_sampling: mean=419.0ms, total=419.0ms, count=1, min=419.0ms, max=419.0ms + task_specific_sample: mean=414.7ms, total=414.7ms, count=1, min=414.7ms, max=414.7ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=441.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:02:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:02:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:02:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:02:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:02:01 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 13:02:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:02:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055159m [env.py: 870] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:02:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9369554 0.18979136 0.05515864] yaw=146.4deg [env.py: 1019] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76471116 0.51748155 0.05515864] yaw=-148.8deg [env.py: 1019] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61091656 0.52196683 0.05515864] yaw=-195.7deg [env.py: 1019] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:02:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.9ms, total=127.9ms [env.py: 1075] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.190, 0.055) [env.py: 1079] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.4 deg [env.py: 1082] +05/12 13:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:02:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.813s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:02:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.645[m] 97.483[deg] [grasp_sample.py: 539] +05/12 13:02:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:02:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:02:02 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 13:02:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:02:02 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 13:02:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:02:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:02:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:02:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:02:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:02:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.383[m] 91.634[deg] [grasp_sample.py: 539] +05/12 13:02:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:02:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:02:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:02:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:02:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:02:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:02:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/12 13:02:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:02:30 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 13:02:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:02:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 13:02:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.680s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:02:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.497[deg] [grasp_sample.py: 539] +05/12 13:02:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:02:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:02:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:02:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:02:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.48s (batch: 4.12s, save: 11.36s) [pipeline.py: 300] +05/12 13:02:38 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.02s: + episode_total: mean=217.56s, total=435.13s, count=2, min=200932.0ms, max=234194.5ms + sensor_polling: mean=419.1ms, total=209.54s, count=500, min=383.0ms, max=1000.9ms + physics_step: mean=23.7ms, total=11.85s, count=500, min=15.2ms, max=32.9ms + save_trajectories: mean=11.36s, total=11.36s, count=1, min=11360.8ms, max=11360.8ms + save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.5ms, max=4123.5ms + task_sampling: mean=508.4ms, total=1.02s, count=2, min=503.3ms, max=513.4ms + task_specific_sample: mean=504.2ms, total=1.01s, count=2, min=499.1ms, max=509.3ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.0ms, max=2.9ms + mj_forward_sync: mean=461.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:02:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:02:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:02:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:02:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:02:39 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 13:02:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:02:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084829m [env.py: 870] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:02:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92552337 0.73710988 0.08482919] yaw=-173.2deg [env.py: 1019] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10506217 1.11862005 0.08482919] yaw=-128.6deg [env.py: 1019] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97257167 1.07165091 0.08482919] yaw=-105.7deg [env.py: 1019] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:02:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=278.2ms, total=278.2ms [env.py: 1075] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.737, 0.085) [env.py: 1079] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg [env.py: 1082] +05/12 13:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:02:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:02:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 13:02:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/12 13:02:40 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 13:02:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:02:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:02:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.034s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:02:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 93.109[deg] [grasp_sample.py: 539] +05/12 13:02:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:02:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:02:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:02:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:02:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:02:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:03:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:03:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:03:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:03:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:03:35 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 13:03:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:03:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/12 13:03:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.723s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:03:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.361[deg] [grasp_sample.py: 539] +05/12 13:03:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:03:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:03:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:42 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:03:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:04:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:04:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:04:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:04:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:04:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:04:20 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:04:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:04:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:04:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 16.47s (batch: 4.48s, save: 11.99s) [pipeline.py: 300] +05/12 13:04:26 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.59s: + episode_total: mean=188.24s, total=188.24s, count=1, min=188242.2ms, max=188242.2ms + sensor_polling: mean=428.5ms, total=128.54s, count=300, min=386.3ms, max=958.6ms + save_trajectories: mean=11.99s, total=11.99s, count=1, min=11988.9ms, max=11988.9ms + physics_step: mean=23.3ms, total=7.00s, count=300, min=16.6ms, max=31.3ms + save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4484.9ms, max=4484.9ms + task_sampling: mean=586.4ms, total=586.4ms, count=1, min=586.4ms, max=586.4ms + task_specific_sample: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=449.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:04:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:04:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:04:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:04:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:04:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:04:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056852m [env.py: 870] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:04:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79056507 0.887172 0.05685195] yaw=-133.5deg [env.py: 1019] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94067038 1.25506422 0.05685195] yaw=-125.9deg [env.py: 1019] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93857086 0.44454297 0.05685195] yaw=207.3deg [env.py: 1019] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:04:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.3ms, total=239.3ms [env.py: 1075] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.887, 0.057) [env.py: 1079] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg [env.py: 1082] +05/12 13:04:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:04:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:04:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:04:28 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/12 13:04:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/12 13:04:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 13:04:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:04:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:04:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.782s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:04:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.561[m] 83.838[deg] [grasp_sample.py: 539] +05/12 13:04:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:04:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:04:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:04:32 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 13:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:04:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:04:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:04:41 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 13:04:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:04:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/12 13:04:44 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.154s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:04:44 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.819[deg] [grasp_sample.py: 539] +05/12 13:04:45 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:04:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:04:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:04:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:04:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:04:47 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 13:04:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:04:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059788m [env.py: 870] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:04:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96893661 0.23175673 0.05978842] yaw=159.2deg [env.py: 1019] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.74894754 0.68773967 0.05978842] yaw=-180.3deg [env.py: 1019] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:04:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=258.9ms, total=258.9ms [env.py: 1075] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.232, 0.060) [env.py: 1079] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg [env.py: 1082] +05/12 13:04:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m [env.py: 1086] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:04:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:04:48 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 13:04:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/12 13:04:48 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 13:04:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:04:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:04:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:04:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.348[m] 91.806[deg] [grasp_sample.py: 539] +05/12 13:04:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:04:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:04:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:04:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:04:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:04:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:04:50 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 13:05:04 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:05:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:05:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:05:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.54s (batch: 5.94s, save: 12.60s) [pipeline.py: 300] +05/12 13:05:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s: + episode_total: mean=191.08s, total=191.08s, count=1, min=191078.2ms, max=191078.2ms + sensor_polling: mean=409.8ms, total=122.95s, count=300, min=372.6ms, max=944.7ms + save_trajectories: mean=12.60s, total=12.60s, count=1, min=12595.7ms, max=12595.7ms + physics_step: mean=23.8ms, total=7.13s, count=300, min=17.7ms, max=36.4ms + save_batch_prep: mean=5.94s, total=5.94s, count=1, min=5940.9ms, max=5940.9ms + task_sampling: mean=460.5ms, total=460.5ms, count=1, min=460.5ms, max=460.5ms + task_specific_sample: mean=455.9ms, total=455.9ms, count=1, min=455.9ms, max=455.9ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:05:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:05:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:05:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:05:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:05:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:05:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:05:12 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 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077279m [env.py: 870] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:05:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96983324 0.77398517 0.07727895] yaw=-186.9deg [env.py: 1019] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89359041 0.76515619 0.07727895] yaw=-155.8deg [env.py: 1019] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91843869 1.03400285 0.07727895] yaw=-105.1deg [env.py: 1019] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:05:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=342.7ms, total=342.8ms [env.py: 1075] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.774, 0.077) [env.py: 1079] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.9 deg [env.py: 1082] +05/12 13:05:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m [env.py: 1086] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:05:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:05:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:05:12 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 13:05:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/12 13:05:12 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 13:05:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:05:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:05:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:05:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.420[m] 84.848[deg] [grasp_sample.py: 539] +05/12 13:05:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:05:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:05:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:05:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:05:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:05:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:05:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:05:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:05:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:05:36 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:05:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:05:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:05:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:05:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:05:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:05:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 19.45s (batch: 6.63s, save: 12.83s) [pipeline.py: 300] +05/12 13:05:56 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.60s: + episode_total: mean=197.47s, total=197.47s, count=1, min=197466.0ms, max=197466.0ms + sensor_polling: mean=440.2ms, total=132.06s, count=300, min=403.7ms, max=975.6ms + save_trajectories: mean=12.83s, total=12.83s, count=1, min=12827.4ms, max=12827.4ms + physics_step: mean=25.6ms, total=7.68s, count=300, min=21.7ms, max=42.5ms + save_batch_prep: mean=6.63s, total=6.63s, count=1, min=6625.3ms, max=6625.3ms + task_sampling: mean=602.1ms, total=602.1ms, count=1, min=602.1ms, max=602.1ms + task_specific_sample: mean=597.9ms, total=597.9ms, count=1, min=597.9ms, max=597.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=455.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.4us, 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 13:05:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:05:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:05:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:05:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:05:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:05:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:05:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016641m [env.py: 870] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:05:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97101434 0.25627294 0.0166411 ] yaw=200.2deg [env.py: 1019] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9357248 0.71418479 0.0166411 ] yaw=-143.4deg [env.py: 1019] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92071754 0.77218521 0.0166411 ] yaw=-134.4deg [env.py: 1019] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:05:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.2ms, total=155.2ms [env.py: 1075] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.256, 0.017) [env.py: 1079] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 200.2 deg [env.py: 1082] +05/12 13:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m [env.py: 1086] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:05:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:05:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:05:59 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 13:06:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/12 13:06:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 13:06:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:06:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:06:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:06:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 92.310[deg] [grasp_sample.py: 539] +05/12 13:06:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:06:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:06:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:06:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:06:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:06:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:06:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:06:20 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 13:06:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:06:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/12 13:06:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.870s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:06:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.623[deg] [grasp_sample.py: 539] +05/12 13:06:23 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/12 13:06:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:06:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:06:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:06:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:06:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:06:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:06:24 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 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020188m [env.py: 870] +05/12 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:06:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92428467 1.22850496 0.02018785] yaw=-171.2deg [env.py: 1019] +05/12 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:06:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=444.6ms, total=444.7ms [env.py: 1075] +05/12 13:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 1.229, 0.020) [env.py: 1079] +05/12 13:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg [env.py: 1082] +05/12 13:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/12 13:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:06:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:06:25 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 13:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.168s [base_object_manipulation_planner_policy.py: 377] +05/12 13:06:25 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 13:06:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:06:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:06:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.820s, found feasible grasp: False [grasp_sample.py: 500] +05/12 13:06:28 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/12 13:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:06:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:06:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:06:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:06:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:06:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077449m [env.py: 870] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73975455 1.01090254 0.07744934] yaw=-149.7deg [env.py: 1019] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79065119 1.06536649 0.07744934] yaw=-140.6deg [env.py: 1019] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62405893 0.56067596 0.07744934] yaw=-144.7deg [env.py: 1019] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:06:30 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 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.740, 1.011, 0.077) [env.py: 1079] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg [env.py: 1082] +05/12 13:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:06:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:06:30 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/12 13:06:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/12 13:06:30 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 13:06:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:06:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:06:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.821s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:06:36 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.704[m] 91.869[deg] [grasp_sample.py: 539] +05/12 13:06:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:06:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:06:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:06:37 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 13:06:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:06:57 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:06:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:07:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:07:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:07:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:07:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:07:35 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:07:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:07:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:07:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:07:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.40s (batch: 5.87s, save: 12.53s) [pipeline.py: 300] +05/12 13:07:47 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.56s: + episode_total: mean=199.36s, total=199.36s, count=1, min=199361.7ms, max=199361.7ms + sensor_polling: mean=452.6ms, total=135.78s, count=300, min=397.5ms, max=995.6ms + save_trajectories: mean=12.53s, total=12.53s, count=1, min=12529.7ms, max=12529.7ms + physics_step: mean=26.2ms, total=7.86s, count=300, min=18.0ms, max=67.6ms + save_batch_prep: mean=5.87s, total=5.87s, count=1, min=5866.7ms, max=5866.7ms + task_sampling: mean=555.8ms, total=555.8ms, count=1, min=555.8ms, max=555.8ms + task_specific_sample: mean=552.0ms, total=552.0ms, count=1, min=552.0ms, max=552.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=449.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:07:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:07:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:07:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:07:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:07:49 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 13:07:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:07:49 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 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094167m [env.py: 870] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:07:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.796582 0.27553491 0.09416718] yaw=205.1deg [env.py: 1019] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84363224 1.10901589 0.09416718] yaw=-156.0deg [env.py: 1019] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85525113 0.94078794 0.09416718] yaw=-131.1deg [env.py: 1019] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:07:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=312.7ms, total=312.8ms [env.py: 1075] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.276, 0.094) [env.py: 1079] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 205.1 deg [env.py: 1082] +05/12 13:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:07:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:07:49 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/12 13:07:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/12 13:07:49 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 13:07:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:07:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:07:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.139s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:07:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 86.217[deg] [grasp_sample.py: 539] +05/12 13:07:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:07:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:07:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:07:52 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 13:07:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:07:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:08:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:08:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:08:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:08:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:08:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/12 13:08:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:08:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:08:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.770s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:08:16 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.625[deg] [grasp_sample.py: 539] +05/12 13:08:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:08:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:08:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:08:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:08:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:08:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.08s (batch: 5.70s, save: 11.39s) [pipeline.py: 300] +05/12 13:08:27 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.69s: + episode_total: mean=195.27s, total=195.27s, count=1, min=195274.7ms, max=195274.7ms + sensor_polling: mean=433.7ms, total=130.11s, count=300, min=375.6ms, max=965.3ms + save_trajectories: mean=11.39s, total=11.39s, count=1, min=11387.3ms, max=11387.3ms + physics_step: mean=27.1ms, total=8.13s, count=300, min=16.8ms, max=37.4ms + save_batch_prep: mean=5.70s, total=5.70s, count=1, min=5695.4ms, max=5695.4ms + task_sampling: mean=689.9ms, total=689.9ms, count=1, min=689.9ms, max=689.9ms + task_specific_sample: mean=685.9ms, total=685.9ms, count=1, min=685.9ms, max=685.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=464.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=25.0us, 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 13:08:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:08:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:08:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:08:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:08:29 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 13:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:08:29 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 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093569m [env.py: 870] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85995734 0.97871844 0.09356922] yaw=-177.8deg [env.py: 1019] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99403854 1.25706614 0.09356922] yaw=-106.1deg [env.py: 1019] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95834267 0.37029904 0.09356922] yaw=143.1deg [env.py: 1019] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:08:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=258.0ms, total=258.1ms [env.py: 1075] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.860, 0.979, 0.094) [env.py: 1079] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.8 deg [env.py: 1082] +05/12 13:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:08:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:08:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/12 13:08:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/12 13:08:30 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 13:08:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:08:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:08:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.651s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:08:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.639[m] 83.427[deg] [grasp_sample.py: 539] +05/12 13:08:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:08:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:08:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:08:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:08:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:08:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:08:57 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:09:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:09:02 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:09:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:09:28 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:09:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/12 13:09:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:09:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:09:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:09:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/12 13:09:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:09:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:09:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:09:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:09:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:09:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 19.55s (batch: 7.03s, save: 12.52s) [pipeline.py: 300] +05/12 13:09:49 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=2.30s: + episode_total: mean=115.51s, total=462.04s, count=4, min=3882.9ms, max=198741.6ms + sensor_polling: mean=433.4ms, total=308.99s, count=713, min=370.3ms, max=1076.2ms + physics_step: mean=25.7ms, total=18.30s, count=713, min=15.2ms, max=140.6ms + save_trajectories: mean=12.52s, total=12.52s, count=1, min=12516.1ms, max=12516.1ms + save_batch_prep: mean=7.03s, total=7.03s, count=1, min=7032.4ms, max=7032.4ms + task_sampling: mean=575.2ms, total=2.30s, count=4, min=424.6ms, max=811.4ms + task_specific_sample: mean=570.6ms, total=2.28s, count=4, min=421.0ms, max=806.1ms + scene_randomize: mean=2.3ms, total=9.1ms, count=4, min=1.4ms, max=3.1ms + mj_forward_sync: mean=501.4us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=16.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:09:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:09:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:09:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:09:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:09:51 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 13:09:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:09:51 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 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001052m [env.py: 870] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:09:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92490675 0.33504504 0.00105232] yaw=167.7deg [env.py: 1019] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71947467 0.72418853 0.00105232] yaw=-131.7deg [env.py: 1019] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11679183e+00 1.07141006e+00 1.05231922e-03] yaw=-154.8deg [env.py: 1019] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:09:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.3ms, total=195.4ms [env.py: 1075] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.335, 0.001) [env.py: 1079] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg [env.py: 1082] +05/12 13:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m [env.py: 1086] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:09:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:09:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/12 13:09:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [save_utils.py: 785] +05/12 13:09:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 18.02s (batch: 6.16s, save: 11.86s) [pipeline.py: 300] +05/12 13:09:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:09:52 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/12 13:09:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/12 13:09:52 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 13:09:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:09:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:09:53 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.48s: + episode_total: mean=233.78s, total=233.78s, count=1, min=233778.1ms, max=233778.1ms + sensor_polling: mean=493.8ms, total=148.14s, count=300, min=418.4ms, max=1057.1ms + save_trajectories: mean=11.86s, total=11.86s, count=1, min=11858.8ms, max=11858.8ms + physics_step: mean=27.2ms, total=8.16s, count=300, min=16.1ms, max=93.1ms + save_batch_prep: mean=6.16s, total=6.16s, count=1, min=6158.4ms, max=6158.4ms + task_sampling: mean=482.0ms, total=482.0ms, count=1, min=482.0ms, max=482.0ms + task_specific_sample: mean=474.2ms, total=474.2ms, count=1, min=474.2ms, max=474.2ms + scene_randomize: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + mj_forward_sync: mean=482.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/12 13:09:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.995s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:09:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.389[m] 94.342[deg] [grasp_sample.py: 539] +05/12 13:09:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:09:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:09:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:09:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/12 13:09:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/12 13:09:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/12 13:09:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:09:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/12 13:09:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/12 13:09:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/12 13:09:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047535m [env.py: 870] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/12 13:09:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71823112 0.12688753 0.04753518] yaw=157.5deg [env.py: 1019] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76816967 0.11386978 0.04753518] yaw=155.6deg [env.py: 1019] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00532653 1.08168537 0.04753518] yaw=-167.5deg [env.py: 1019] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/12 13:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.2ms, total=111.2ms [env.py: 1075] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.127, 0.048) [env.py: 1079] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.5 deg [env.py: 1082] +05/12 13:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/12 13:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/12 13:09:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/12 13:09:56 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/12 13:09:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/12 13:09:56 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 13:09:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:09:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/12 13:09:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.642s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:09:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.617[m] 95.001[deg] [grasp_sample.py: 539] +05/12 13:09:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:09:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:09:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:10:00 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 13:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:10:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:10:27 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 13:10:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:10:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/12 13:10:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.719s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:10:28 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.277[deg] [grasp_sample.py: 539] +05/12 13:10:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:10:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:10:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:10:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/12 13:10:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/12 13:10:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/12 13:10:45 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 13:10:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/12 13:10:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/12 13:10:46 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.712s, found feasible grasp: True [grasp_sample.py: 500] +05/12 13:10:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.100[m] 0.271[deg] [grasp_sample.py: 539] +05/12 13:10:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/12 13:10:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:10:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/12 13:10:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:10:47 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:10:54 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/12 13:11:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/12 13:11:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/12 13:11:19 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:11:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/12 13:11:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/12 13:11:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/12 13:11:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_0.7_pd/sim_chunks/chunk_014 [pipeline.py: 1174] +05/12 13:11:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/12 13:11:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] diff --git a/fridge_m_0.7_pd/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6c5dec01cbe75e8595b461b536f6fe031ecd8d6d --- /dev/null +++ b/fridge_m_0.7_pd/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5bb2cb77f9defc47840db23547d18bd1ed7c11069762120c02725e6fc9bff85 +size 721457012 diff --git a/fridge_m_0.7_pd/chunk_014/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_014/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..693974a005b51463e7f05f559ef5362db33336d9 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_014/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8189fed07035e77a3194e62c4e57598c806fc4920cfb91ddb361442302a99a5 +size 637425769 diff --git a/fridge_m_0.7_pd/chunk_014/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_014/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5249f8ae561d52ac282c3111a2204d5e3d48aa56 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_014/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f05aa51a1af868ba478503eca5e7abcb65110e7fc01bf7e13f51f9b0235b42a8 +size 691936471 diff --git a/fridge_m_0.7_pd/chunk_014/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m_0.7_pd/chunk_014/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1b09aec5d3f15f40b3c0d1196bd8fba44361f5d7 --- /dev/null +++ b/fridge_m_0.7_pd/chunk_014/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:950dbf9cd3a6a8467fe1857a8d42b990e11fb161896917463b694d59ac4444cc +size 535027502