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0000000000000000000000000000000000000000..d81a1bcd99a80da8ba4600f9ba815176cc2102ab --- /dev/null +++ b/fridge_7/chunk_009/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b94cac3604a35ea0f88896ad953b63259a36b22d3b11583de0d9a852a0cc9d2 +size 592739 diff --git a/fridge_7/chunk_009/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_009/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc5a8f88101109826ce33c643f971a6edadd9852 --- /dev/null +++ b/fridge_7/chunk_009/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32d188cee505d780b4f66261679a44435aa4c4d070e86501ffc7574e6bc6a48e +size 112115 diff --git a/fridge_7/chunk_009/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_009/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..feeb1c8ee97ecc51447a8f1a7798a105d865edfd --- /dev/null +++ b/fridge_7/chunk_009/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0829bfa85238562793e01189d69d62edb81645c009f243e36f4c3a2ca88345bd +size 446340 diff --git a/fridge_7/chunk_009/running_log.log b/fridge_7/chunk_009/running_log.log index b1e1ded94eae7c58609745b230fd2343e4a2c17e..a4cf73d2344b15e7753b6d64b585add18281dfc8 100644 --- a/fridge_7/chunk_009/running_log.log +++ b/fridge_7/chunk_009/running_log.log @@ -4380,3 +4380,778 @@ 05/10 22:14:41 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] 05/10 22:14:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] 05/10 22:14:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:14:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:14:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:14:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.14s, save: 7.70s) [pipeline.py: 300] +05/10 22:14:53 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.78s: + episode_total: mean=181.71s, total=545.12s, count=3, min=164126.1ms, max=204051.5ms + sensor_polling: mean=509.3ms, total=437.48s, count=859, min=432.7ms, max=1253.3ms + physics_step: mean=24.7ms, total=21.24s, count=859, min=14.8ms, max=100.1ms + save_trajectories: mean=7.70s, total=7.70s, count=1, min=7701.3ms, max=7701.3ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4143.9ms, max=4143.9ms + task_sampling: mean=593.3ms, total=1.78s, count=3, min=515.0ms, max=702.8ms + task_specific_sample: mean=589.5ms, total=1.77s, count=3, min=510.5ms, max=699.0ms + scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=3.0ms + mj_forward_sync: mean=489.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:14:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:14:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:14:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:14:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:14:55 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] +05/10 22:14:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:14:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054448m [env.py: 870] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:14:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64513941 0.4665513 0.05444763] yaw=174.9deg [env.py: 1019] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98331101 0.22687434 0.05444763] yaw=149.8deg [env.py: 1019] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0179279 1.07679657 0.05444763] yaw=-136.8deg [env.py: 1019] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:14:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.2ms, total=320.3ms [env.py: 1075] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.467, 0.054) [env.py: 1079] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg [env.py: 1082] +05/10 22:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:14:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:14:55 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/10 22:14:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/10 22:14:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:14:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:14:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:14:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.450s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:14:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.630[m] 95.774[deg] [grasp_sample.py: 539] +05/10 22:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:14:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:14:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:15:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:15:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:15:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:15:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:16:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:16:04 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:16:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:16:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:16:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:16:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:16:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:16:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.60s (batch: 4.82s, save: 10.78s) [pipeline.py: 300] +05/10 22:16:20 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s: + episode_total: mean=189.06s, total=189.06s, count=1, min=189059.5ms, max=189059.5ms + sensor_polling: mean=468.3ms, total=140.50s, count=300, min=391.0ms, max=768.6ms + save_trajectories: mean=10.78s, total=10.78s, count=1, min=10777.2ms, max=10777.2ms + physics_step: mean=21.8ms, total=6.55s, count=300, min=15.5ms, max=72.5ms + save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.9ms, max=4823.9ms + task_sampling: mean=492.7ms, total=492.7ms, count=1, min=492.7ms, max=492.7ms + task_specific_sample: mean=489.2ms, total=489.2ms, count=1, min=489.2ms, max=489.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:16:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:16:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:16:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:16:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/10 22:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:16:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047320m [env.py: 870] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85333776 0.09159972 0.04731973] yaw=160.2deg [env.py: 1019] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81866705 0.68803712 0.04731973] yaw=-173.2deg [env.py: 1019] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06665285 1.14845087 0.04731973] yaw=-131.6deg [env.py: 1019] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.6ms [env.py: 1075] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.092, 0.047) [env.py: 1079] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.2 deg [env.py: 1082] +05/10 22:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:16:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:16:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/10 22:16:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/10 22:16:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:16:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:16:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:16:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:16:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.500[m] 87.328[deg] [grasp_sample.py: 539] +05/10 22:16:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:16:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:16:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:16:52 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:16:57 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:17:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:17:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:17:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:17:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:17:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:17:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:17:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:17:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:17:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:17:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/10 22:17:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.412s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:17:21 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg] [grasp_sample.py: 539] +05/10 22:17:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:17:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:17:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:17:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:17:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:17:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.88s, save: 7.43s) [pipeline.py: 300] +05/10 22:17:23 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s: + episode_total: mean=224.48s, total=224.48s, count=1, min=224483.4ms, max=224483.4ms + sensor_polling: mean=469.5ms, total=140.84s, count=300, min=392.9ms, max=791.4ms + save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.1ms, max=7429.1ms + physics_step: mean=22.6ms, total=6.79s, count=300, min=16.7ms, max=94.9ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms + task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms + task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=416.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:17:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:17:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:17:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:17:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:17:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:17:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:17:24 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] +05/10 22:17:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:17:24 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] +05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021258m [env.py: 870] +05/10 22:17:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:17:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71189626 0.4457718 0.02125798] yaw=188.5deg [env.py: 1019] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71601287 0.62103296 0.02125798] yaw=-179.2deg [env.py: 1019] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.0ms, total=162.0ms [env.py: 1075] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.712, 0.446, 0.021) [env.py: 1079] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg [env.py: 1082] +05/10 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:17:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:17:25 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/10 22:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/10 22:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:17:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:17:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:17:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:17:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 90.877[deg] [grasp_sample.py: 539] +05/10 22:17:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:17:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:17:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:17:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:17:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:17:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:17:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.17s (batch: 3.93s, save: 7.24s) [pipeline.py: 300] +05/10 22:17:29 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.33s: + episode_total: mean=183.10s, total=183.10s, count=1, min=183100.7ms, max=183100.7ms + sensor_polling: mean=465.8ms, total=139.74s, count=300, min=397.0ms, max=713.6ms + save_trajectories: mean=7.24s, total=7.24s, count=1, min=7243.0ms, max=7243.0ms + physics_step: mean=21.5ms, total=6.45s, count=300, min=16.5ms, max=74.2ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3926.8ms, max=3926.8ms + task_sampling: mean=331.9ms, total=331.9ms, count=1, min=331.9ms, max=331.9ms + task_specific_sample: mean=328.4ms, total=328.4ms, count=1, min=328.4ms, max=328.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, 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] +05/10 22:17:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:17:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:17:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:17:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:17:31 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] +05/10 22:17:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:17:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039474m [env.py: 870] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:17:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71937425 0.8776568 0.03947445] yaw=-161.8deg [env.py: 1019] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8209484 0.92103074 0.03947445] yaw=-156.1deg [env.py: 1019] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:17:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.3ms [env.py: 1075] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.878, 0.039) [env.py: 1079] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg [env.py: 1082] +05/10 22:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:17:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:17:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/10 22:17:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/10 22:17:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:17:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:17:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:17:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.622s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:17:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 76.859[deg] [grasp_sample.py: 539] +05/10 22:17:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:17:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:17:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:17:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:17:35 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:17:58 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:17:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:17:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:18:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:18:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:18:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.25s (batch: 4.13s, save: 9.12s) [pipeline.py: 300] +05/10 22:18:13 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.62s: + episode_total: mean=197.80s, total=197.80s, count=1, min=197799.6ms, max=197799.6ms + sensor_polling: mean=459.7ms, total=137.90s, count=300, min=389.3ms, max=703.7ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9118.3ms, max=9118.3ms + physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=63.4ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4129.0ms, max=4129.0ms + task_sampling: mean=621.0ms, total=621.0ms, count=1, min=621.0ms, max=621.0ms + task_specific_sample: mean=615.6ms, total=615.6ms, count=1, min=615.6ms, max=615.6ms + scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:18:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:18:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:18:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:18:14 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] +05/10 22:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:18:14 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] +05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033136m [env.py: 870] +05/10 22:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87750766 0.70276041 0.03313566] yaw=-174.8deg [env.py: 1019] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90004456 0.89556275 0.03313566] yaw=-147.0deg [env.py: 1019] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61983833 0.63203531 0.03313566] yaw=-171.3deg [env.py: 1019] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=601.0ms, total=601.1ms [env.py: 1075] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.703, 0.033) [env.py: 1079] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.8 deg [env.py: 1082] +05/10 22:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:18:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:18:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/10 22:18:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/10 22:18:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:18:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:18:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:18:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:18:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 90.621[deg] [grasp_sample.py: 539] +05/10 22:18:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:18:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:18:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:18:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:18:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:18:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:18:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:18:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:18:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:18:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:18:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:18:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.477[deg] [grasp_sample.py: 539] +05/10 22:18:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:18:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:18:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:18:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:18:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:18:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:18:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:18:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:18:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.456s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:18:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg] [grasp_sample.py: 539] +05/10 22:18:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:18:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:18:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:19:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:19:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:19:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg] [grasp_sample.py: 539] +05/10 22:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:19:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:19:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:19:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:19:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:19:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/10 22:19:27 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:19:48 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:19:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes [pipeline.py: 238] +05/10 22:19:48 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/10 22:19:57 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:20:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:20:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:20:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.28s (batch: 3.85s, save: 9.44s) [pipeline.py: 300] +05/10 22:20:02 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s: + episode_total: mean=220.49s, total=220.49s, count=1, min=220493.8ms, max=220493.8ms + sensor_polling: mean=460.4ms, total=131.21s, count=285, min=401.1ms, max=769.3ms + save_trajectories: mean=9.44s, total=9.44s, count=1, min=9436.1ms, max=9436.1ms + physics_step: mean=20.8ms, total=5.94s, count=285, min=11.5ms, max=68.3ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3847.5ms, max=3847.5ms + task_sampling: mean=381.2ms, total=381.2ms, count=1, min=381.2ms, max=381.2ms + task_specific_sample: mean=377.8ms, total=377.8ms, count=1, min=377.8ms, max=377.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=403.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:20:04 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:20:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:20:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:20:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:20:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:20:04 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] +05/10 22:20:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:20:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056216m [env.py: 870] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:20:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72280208 0.76557096 0.05621569] yaw=-157.4deg [env.py: 1019] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79332377 0.63060379 0.05621569] yaw=-171.3deg [env.py: 1019] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90640475 1.24009373 0.05621569] yaw=-138.5deg [env.py: 1019] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:20:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.4ms [env.py: 1075] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.766, 0.056) [env.py: 1079] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg [env.py: 1082] +05/10 22:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:20:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:20:04 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/10 22:20:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/10 22:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:20:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:20:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.590[m] 87.850[deg] [grasp_sample.py: 539] +05/10 22:20:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:20:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:20:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:20:18 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:20:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes [pipeline.py: 238] +05/10 22:20:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:20:24 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:20:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes [pipeline.py: 238] +05/10 22:20:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:20:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:20:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:20:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.28s (batch: 3.83s, save: 7.45s) [pipeline.py: 300] +05/10 22:20:30 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.47s: + episode_total: mean=185.37s, total=185.37s, count=1, min=185371.4ms, max=185371.4ms + sensor_polling: mean=467.7ms, total=140.32s, count=300, min=400.1ms, max=982.5ms + save_trajectories: mean=7.45s, total=7.45s, count=1, min=7450.0ms, max=7450.0ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=14.1ms, max=121.4ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3831.8ms, max=3831.8ms + task_sampling: mean=469.0ms, total=469.0ms, count=1, min=469.0ms, max=469.0ms + task_specific_sample: mean=465.6ms, total=465.6ms, count=1, min=465.6ms, max=465.6ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=384.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/10 22:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:20:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:20:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:20:31 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] +05/10 22:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:20:31 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] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043789m [env.py: 870] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03083617 0.9452331 0.0437895 ] yaw=-145.3deg [env.py: 1019] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78082377 0.33066894 0.0437895 ] yaw=166.8deg [env.py: 1019] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9390865 0.46934615 0.0437895 ] yaw=188.6deg [env.py: 1019] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.9ms [env.py: 1075] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.945, 0.044) [env.py: 1079] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg [env.py: 1082] +05/10 22:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:20:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:20:32 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/10 22:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/10 22:20:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:20:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:20:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 87.414[deg] [grasp_sample.py: 539] +05/10 22:20:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:20:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:20:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:20:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:20:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:20:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 11.56s (batch: 4.01s, save: 7.54s) [pipeline.py: 300] +05/10 22:20:36 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s: + episode_total: mean=185.71s, total=185.71s, count=1, min=185714.5ms, max=185714.5ms + sensor_polling: mean=469.5ms, total=140.85s, count=300, min=396.8ms, max=895.8ms + save_trajectories: mean=7.54s, total=7.54s, count=1, min=7541.5ms, max=7541.5ms + physics_step: mean=21.4ms, total=6.42s, count=300, min=14.3ms, max=53.0ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4014.6ms, max=4014.6ms + task_sampling: mean=400.9ms, total=400.9ms, count=1, min=400.9ms, max=400.9ms + task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=375.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:20:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:20:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:20:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:20:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:20:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/10 22:20:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:20:38 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] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099678m [env.py: 870] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:20:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93918096 0.41313221 0.09967764] yaw=177.7deg [env.py: 1019] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92139449 0.22802306 0.09967764] yaw=155.5deg [env.py: 1019] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:20:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.6ms, total=159.7ms [env.py: 1075] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.413, 0.100) [env.py: 1079] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg [env.py: 1082] +05/10 22:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m [env.py: 1086] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:20:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:20:38 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/10 22:20:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/10 22:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:20:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:20:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:20:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.421s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:20:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.361[m] 101.518[deg] [grasp_sample.py: 539] +05/10 22:20:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:20:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:20:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:20:45 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:20:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:21:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:21:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [pipeline.py: 1174] +05/10 22:21:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [pipeline.py: 238] +05/10 22:21:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/10 22:21:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:21:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:21:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:21:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:21:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:21:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/10 22:21:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 [save_utils.py: 785] +05/10 22:21:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.49s (batch: 4.12s, save: 8.37s) [pipeline.py: 300] +05/10 22:21:20 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.86s: + episode_total: mean=185.33s, total=185.33s, count=1, min=185328.8ms, max=185328.8ms + sensor_polling: mean=463.1ms, total=138.94s, count=300, min=401.7ms, max=848.0ms + save_trajectories: mean=8.36s, total=8.36s, count=1, min=8365.0ms, max=8365.0ms + physics_step: mean=20.4ms, total=6.13s, count=300, min=16.6ms, max=42.5ms + save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.9ms, max=4121.9ms + task_sampling: mean=864.2ms, total=864.2ms, count=1, min=864.2ms, max=864.2ms + task_specific_sample: mean=859.9ms, total=859.9ms, count=1, min=859.9ms, max=859.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=544.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/10 22:21:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:21:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:21:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:21:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:21:21 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] +05/10 22:21:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:21:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005815m [env.py: 870] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:21:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76838776 0.94624467 0.00581516] yaw=-156.5deg [env.py: 1019] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80469593 0.76596592 0.00581516] yaw=-167.7deg [env.py: 1019] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11616872 1.01864043 0.00581516] yaw=-128.4deg [env.py: 1019] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:21:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.2ms, total=119.3ms [env.py: 1075] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.946, 0.006) [env.py: 1079] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg [env.py: 1082] +05/10 22:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:21:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:21:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/10 22:21:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/10 22:21:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:21:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:21:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:21:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/10 22:21:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:21:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 96.490[deg] [grasp_sample.py: 539] +05/10 22:21:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:21:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:21:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:21:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/10 22:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/10 22:22:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/10 22:22:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/10 22:22:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:22:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:22:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/10 22:22:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.379s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:22:27 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.572[deg] [grasp_sample.py: 539] +05/10 22:22:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/10 22:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/10 22:22:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/10 22:22:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:22:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/10 22:22:30 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] +05/10 22:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/10 22:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052027m [env.py: 870] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/10 22:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80715854 0.70576702 0.0520273 ] yaw=-166.2deg [env.py: 1019] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73822543 0.39930126 0.0520273 ] yaw=172.9deg [env.py: 1019] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66684469 0.73782004 0.0520273 ] yaw=-161.1deg [env.py: 1019] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/10 22:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms [env.py: 1075] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.706, 0.052) [env.py: 1079] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg [env.py: 1082] +05/10 22:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m [env.py: 1086] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/10 22:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/10 22:22:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/10 22:22:31 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/10 22:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/10 22:22:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/10 22:22:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/10 22:22:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/10 22:22:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True [grasp_sample.py: 500] +05/10 22:22:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 85.816[deg] [grasp_sample.py: 539] +05/10 22:22:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/10 22:22:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:22:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/10 22:22:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/10 22:22:34 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/10 22:22:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] diff --git a/fridge_7/chunk_009/shard_1_of_4.log b/fridge_7/chunk_009/shard_1_of_4.log index a9d962320098ba92d7f283802e31c9b200cb22e9..d1f93db34cf5c83090f7de2a3bbf33ecfcf3207b 100644 --- a/fridge_7/chunk_009/shard_1_of_4.log +++ b/fridge_7/chunk_009/shard_1_of_4.log @@ -1314,3 +1314,233 @@ ValueError: IK failed for pregrasp pose [05/10 22:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... [05/10 22:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:15:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:15:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:16:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/10 22:17:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:17:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes +[05/10 22:17:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:17:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:17:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:17:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.17s (batch: 3.93s, save: 7.24s) +[05/10 22:17:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.33s: + episode_total: mean=183.10s, total=183.10s, count=1, min=183100.7ms, max=183100.7ms + sensor_polling: mean=465.8ms, total=139.74s, count=300, min=397.0ms, max=713.6ms + save_trajectories: mean=7.24s, total=7.24s, count=1, min=7243.0ms, max=7243.0ms + physics_step: mean=21.5ms, total=6.45s, count=300, min=16.5ms, max=74.2ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3926.8ms, max=3926.8ms + task_sampling: mean=331.9ms, total=331.9ms, count=1, min=331.9ms, max=331.9ms + task_specific_sample: mean=328.4ms, total=328.4ms, count=1, min=328.4ms, max=328.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, 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 +[05/10 22:17:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:17:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:17:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:17:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:17:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:17:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:17:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:17:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) +[05/10 22:17:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:17:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:17:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039474m +[05/10 22:17:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:17:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:17:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71937425 0.8776568 0.03947445] yaw=-161.8deg +[05/10 22:17:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8209484 0.92103074 0.03947445] yaw=-156.1deg +[05/10 22:17:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:17:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:17:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.3ms +[05/10 22:17:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.878, 0.039) +[05/10 22:17:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg +[05/10 22:17:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m +[05/10 22:17:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:17:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:17:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:17:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:17:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:17:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/10 22:17:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/10 22:17:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:17:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:17:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:17:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.622s, found feasible grasp: True +[05/10 22:17:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 76.859[deg] +[05/10 22:17:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:20:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/10 22:20:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:20:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes +[05/10 22:20:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:20:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:20:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:20:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.56s (batch: 4.01s, save: 7.54s) +[05/10 22:20:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s: + episode_total: mean=185.71s, total=185.71s, count=1, min=185714.5ms, max=185714.5ms + sensor_polling: mean=469.5ms, total=140.85s, count=300, min=396.8ms, max=895.8ms + save_trajectories: mean=7.54s, total=7.54s, count=1, min=7541.5ms, max=7541.5ms + physics_step: mean=21.4ms, total=6.42s, count=300, min=14.3ms, max=53.0ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4014.6ms, max=4014.6ms + task_sampling: mean=400.9ms, total=400.9ms, count=1, min=400.9ms, max=400.9ms + task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=375.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:20:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:20:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:20:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:20:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:20:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:20:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:20:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:20:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) +[05/10 22:20:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:20:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:20:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099678m +[05/10 22:20:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:20:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:20:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93918096 0.41313221 0.09967764] yaw=177.7deg +[05/10 22:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92139449 0.22802306 0.09967764] yaw=155.5deg +[05/10 22:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:20:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:20:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.6ms, total=159.7ms +[05/10 22:20:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.413, 0.100) +[05/10 22:20:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg +[05/10 22:20:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m +[05/10 22:20:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:20:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:20:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:20:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:20:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:20:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/10 22:20:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/10 22:20:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:20:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:20:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:20:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.421s, found feasible grasp: True +[05/10 22:20:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.361[m] 101.518[deg] +[05/10 22:20:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:21:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:22:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:22:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:22:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:22:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:22:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:22:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:22:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:22:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps +[05/10 22:22:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.379s, found feasible grasp: True +[05/10 22:22:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.572[deg] +[05/10 22:22:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/10 22:22:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:22:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:22:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:22:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) +[05/10 22:22:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:22:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:22:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052027m +[05/10 22:22:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:22:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:22:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80715854 0.70576702 0.0520273 ] yaw=-166.2deg +[05/10 22:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:22:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73822543 0.39930126 0.0520273 ] yaw=172.9deg +[05/10 22:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66684469 0.73782004 0.0520273 ] yaw=-161.1deg +[05/10 22:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:22:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:22:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.6ms, total=196.6ms +[05/10 22:22:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.706, 0.052) +[05/10 22:22:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg +[05/10 22:22:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.923m +[05/10 22:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:22:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:22:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/10 22:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s +[05/10 22:22:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:22:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:22:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps +[05/10 22:22:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True +[05/10 22:22:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.487[m] 85.816[deg] +[05/10 22:22:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp diff --git a/fridge_7/chunk_009/shard_2_of_4.log b/fridge_7/chunk_009/shard_2_of_4.log index bc963da9f85ae83095b00f81671b3c55b34f50f3..d8d9a77efb3e4f09ee2e89ddf850887c55def0ca 100644 --- a/fridge_7/chunk_009/shard_2_of_4.log +++ b/fridge_7/chunk_009/shard_2_of_4.log @@ -1093,3 +1093,209 @@ DEBUG:h5py._conv:Creating converter from 5 to 3 [05/10 22:14:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/10 22:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/10 22:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:15:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/10 22:16:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:16:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes +[05/10 22:16:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:16:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:16:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:16:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.60s (batch: 4.82s, save: 10.78s) +[05/10 22:16:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s: + episode_total: mean=189.06s, total=189.06s, count=1, min=189059.5ms, max=189059.5ms + sensor_polling: mean=468.3ms, total=140.50s, count=300, min=391.0ms, max=768.6ms + save_trajectories: mean=10.78s, total=10.78s, count=1, min=10777.2ms, max=10777.2ms + physics_step: mean=21.8ms, total=6.55s, count=300, min=15.5ms, max=72.5ms + save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4823.9ms, max=4823.9ms + task_sampling: mean=492.7ms, total=492.7ms, count=1, min=492.7ms, max=492.7ms + task_specific_sample: mean=489.2ms, total=489.2ms, count=1, min=489.2ms, max=489.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:16:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:16:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:16:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:16:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) +[05/10 22:16:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:16:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:16:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047320m +[05/10 22:16:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:16:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:16:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85333776 0.09159972 0.04731973] yaw=160.2deg +[05/10 22:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81866705 0.68803712 0.04731973] yaw=-173.2deg +[05/10 22:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06665285 1.14845087 0.04731973] yaw=-131.6deg +[05/10 22:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:16:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:16:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.5ms, total=120.6ms +[05/10 22:16:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.092, 0.047) +[05/10 22:16:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.2 deg +[05/10 22:16:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m +[05/10 22:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:16:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:16:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/10 22:16:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/10 22:16:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:16:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:16:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:16:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True +[05/10 22:16:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.500[m] 87.328[deg] +[05/10 22:16:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:18:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:18:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:18:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:18:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps +[05/10 22:18:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True +[05/10 22:18:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.477[deg] +[05/10 22:18:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:18:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:18:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:18:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/10 22:18:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:18:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:18:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps +[05/10 22:18:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.456s, found feasible grasp: True +[05/10 22:18:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg] +[05/10 22:18:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:18:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:18:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:19:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:19:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:19:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:19:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3 +[05/10 22:19:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:19:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:19:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps +[05/10 22:19:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True +[05/10 22:19:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.554[deg] +[05/10 22:19:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:19:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:19:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed. +[05/10 22:19:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/10 22:19:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:19:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes +[05/10 22:19:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps +[05/10 22:20:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:20:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:20:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.28s (batch: 3.85s, save: 9.44s) +[05/10 22:20:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s: + episode_total: mean=220.49s, total=220.49s, count=1, min=220493.8ms, max=220493.8ms + sensor_polling: mean=460.4ms, total=131.21s, count=285, min=401.1ms, max=769.3ms + save_trajectories: mean=9.44s, total=9.44s, count=1, min=9436.1ms, max=9436.1ms + physics_step: mean=20.8ms, total=5.94s, count=285, min=11.5ms, max=68.3ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3847.5ms, max=3847.5ms + task_sampling: mean=381.2ms, total=381.2ms, count=1, min=381.2ms, max=381.2ms + task_specific_sample: mean=377.8ms, total=377.8ms, count=1, min=377.8ms, max=377.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=403.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:20:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:20:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:20:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:20:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) +[05/10 22:20:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:20:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:20:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056216m +[05/10 22:20:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:20:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:20:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72280208 0.76557096 0.05621569] yaw=-157.4deg +[05/10 22:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79332377 0.63060379 0.05621569] yaw=-171.3deg +[05/10 22:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90640475 1.24009373 0.05621569] yaw=-138.5deg +[05/10 22:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:20:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:20:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.3ms, total=141.4ms +[05/10 22:20:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.766, 0.056) +[05/10 22:20:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg +[05/10 22:20:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.020m +[05/10 22:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:20:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:20:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/10 22:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/10 22:20:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:20:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:20:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps +[05/10 22:20:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True +[05/10 22:20:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.590[m] 87.850[deg] +[05/10 22:20:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:22:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True diff --git a/fridge_7/chunk_009/shard_3_of_4.log b/fridge_7/chunk_009/shard_3_of_4.log index 1ecdfb82379dfaeb3041c485c3149bafc7b1cd39..112a79d335a281f925ccd54555b9f079d0dcafe4 100644 --- a/fridge_7/chunk_009/shard_3_of_4.log +++ b/fridge_7/chunk_009/shard_3_of_4.log @@ -1221,3 +1221,144 @@ ValueError: IK failed for pregrasp pose [05/10 22:14:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/10 22:14:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/10 22:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:16:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/10 22:17:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:17:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes +[05/10 22:17:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:17:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:17:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:17:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.31s (batch: 3.88s, save: 7.43s) +[05/10 22:17:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s: + episode_total: mean=224.48s, total=224.48s, count=1, min=224483.4ms, max=224483.4ms + sensor_polling: mean=469.5ms, total=140.84s, count=300, min=392.9ms, max=791.4ms + save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.1ms, max=7429.1ms + physics_step: mean=22.6ms, total=6.79s, count=300, min=16.7ms, max=94.9ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.8ms, max=3876.8ms + task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms + task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=416.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:17:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:17:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:17:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:17:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:17:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:17:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:17:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:17:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) +[05/10 22:17:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:17:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:17:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021258m +[05/10 22:17:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:17:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:17:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:17:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71189626 0.4457718 0.02125798] yaw=188.5deg +[05/10 22:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:17:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71601287 0.62103296 0.02125798] yaw=-179.2deg +[05/10 22:17:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:17:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:17:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.0ms, total=162.0ms +[05/10 22:17:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.712, 0.446, 0.021) +[05/10 22:17:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg +[05/10 22:17:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m +[05/10 22:17:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:17:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:17:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:17:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:17:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:17:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/10 22:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s +[05/10 22:17:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:17:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:17:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/10 22:17:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True +[05/10 22:17:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.532[m] 90.877[deg] +[05/10 22:17:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:19:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/10 22:20:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:20:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes +[05/10 22:20:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:20:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:20:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:20:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.28s (batch: 3.83s, save: 7.45s) +[05/10 22:20:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.47s: + episode_total: mean=185.37s, total=185.37s, count=1, min=185371.4ms, max=185371.4ms + sensor_polling: mean=467.7ms, total=140.32s, count=300, min=400.1ms, max=982.5ms + save_trajectories: mean=7.45s, total=7.45s, count=1, min=7450.0ms, max=7450.0ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=14.1ms, max=121.4ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3831.8ms, max=3831.8ms + task_sampling: mean=469.0ms, total=469.0ms, count=1, min=469.0ms, max=469.0ms + task_specific_sample: mean=465.6ms, total=465.6ms, count=1, min=465.6ms, max=465.6ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=384.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/10 22:20:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:20:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:20:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:20:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:20:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) +[05/10 22:20:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:20:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:20:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043789m +[05/10 22:20:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:20:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:20:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03083617 0.9452331 0.0437895 ] yaw=-145.3deg +[05/10 22:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78082377 0.33066894 0.0437895 ] yaw=166.8deg +[05/10 22:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:20:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9390865 0.46934615 0.0437895 ] yaw=188.6deg +[05/10 22:20:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:20:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:20:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.9ms +[05/10 22:20:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.945, 0.044) +[05/10 22:20:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg +[05/10 22:20:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.816m +[05/10 22:20:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:20:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:20:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:20:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:20:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:20:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/10 22:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s +[05/10 22:20:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:20:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:20:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/10 22:20:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True +[05/10 22:20:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.362[m] 87.414[deg] +[05/10 22:20:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:21:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_009/shard_4_of_4.log b/fridge_7/chunk_009/shard_4_of_4.log index 170a8eb74d408737768e8dab71a0ba73c9d76f9c..6aa56b5e3f56a21cc8b629bb41e9bcb4c3399763 100644 --- a/fridge_7/chunk_009/shard_4_of_4.log +++ b/fridge_7/chunk_009/shard_4_of_4.log @@ -1199,3 +1199,228 @@ ValueError: IK failed for pregrasp pose [05/10 22:14:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 [05/10 22:14:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes [05/10 22:14:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:14:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:14:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:14:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 11.85s (batch: 4.14s, save: 7.70s) +[05/10 22:14:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.78s: + episode_total: mean=181.71s, total=545.12s, count=3, min=164126.1ms, max=204051.5ms + sensor_polling: mean=509.3ms, total=437.48s, count=859, min=432.7ms, max=1253.3ms + physics_step: mean=24.7ms, total=21.24s, count=859, min=14.8ms, max=100.1ms + save_trajectories: mean=7.70s, total=7.70s, count=1, min=7701.3ms, max=7701.3ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4143.9ms, max=4143.9ms + task_sampling: mean=593.3ms, total=1.78s, count=3, min=515.0ms, max=702.8ms + task_specific_sample: mean=589.5ms, total=1.77s, count=3, min=510.5ms, max=699.0ms + scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=3.0ms + mj_forward_sync: mean=489.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms +[05/10 22:14:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:14:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:14:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:14:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:14:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:14:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:14:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) +[05/10 22:14:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:14:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:14:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054448m +[05/10 22:14:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:14:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:14:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:14:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64513941 0.4665513 0.05444763] yaw=174.9deg +[05/10 22:14:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:14:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:14:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:14:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98331101 0.22687434 0.05444763] yaw=149.8deg +[05/10 22:14:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:14:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:14:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0179279 1.07679657 0.05444763] yaw=-136.8deg +[05/10 22:14:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:14:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:14:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.2ms, total=320.3ms +[05/10 22:14:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.467, 0.054) +[05/10 22:14:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg +[05/10 22:14:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m +[05/10 22:14:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:14:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:14:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:14:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:14:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/10 22:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s +[05/10 22:14:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:14:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:14:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps +[05/10 22:14:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.450s, found feasible grasp: True +[05/10 22:14:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.630[m] 95.774[deg] +[05/10 22:14:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:16:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:16:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:16:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/10 22:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/10 22:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/10 22:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/10 22:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/10 22:17:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/10 22:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/10 22:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/10 22:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/10 22:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/10 22:17:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:17:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:17:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps +[05/10 22:17:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.412s, found feasible grasp: True +[05/10 22:17:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg] +[05/10 22:17:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:17:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/10 22:17:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:17:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes +[05/10 22:17:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:18:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:18:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:18:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.25s (batch: 4.13s, save: 9.12s) +[05/10 22:18:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.62s: + episode_total: mean=197.80s, total=197.80s, count=1, min=197799.6ms, max=197799.6ms + sensor_polling: mean=459.7ms, total=137.90s, count=300, min=389.3ms, max=703.7ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9118.3ms, max=9118.3ms + physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=63.4ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4129.0ms, max=4129.0ms + task_sampling: mean=621.0ms, total=621.0ms, count=1, min=621.0ms, max=621.0ms + task_specific_sample: mean=615.6ms, total=615.6ms, count=1, min=615.6ms, max=615.6ms + scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:18:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:18:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:18:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:18:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:18:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:18:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:18:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:18:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) +[05/10 22:18:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:18:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:18:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033136m +[05/10 22:18:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:18:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:18:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87750766 0.70276041 0.03313566] yaw=-174.8deg +[05/10 22:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90004456 0.89556275 0.03313566] yaw=-147.0deg +[05/10 22:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.61983833 0.63203531 0.03313566] yaw=-171.3deg +[05/10 22:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:18:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:18:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=601.0ms, total=601.1ms +[05/10 22:18:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.703, 0.033) +[05/10 22:18:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.8 deg +[05/10 22:18:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.854m +[05/10 22:18:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:18:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:18:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:18:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:18:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:18:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/10 22:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s +[05/10 22:18:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:18:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:18:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps +[05/10 22:18:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True +[05/10 22:18:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.456[m] 90.621[deg] +[05/10 22:18:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/10 22:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/10 22:20:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/10 22:21:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:21:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes +[05/10 22:21:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/10 22:21:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/10 22:21:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009 +[05/10 22:21:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.49s (batch: 4.12s, save: 8.37s) +[05/10 22:21:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.86s: + episode_total: mean=185.33s, total=185.33s, count=1, min=185328.8ms, max=185328.8ms + sensor_polling: mean=463.1ms, total=138.94s, count=300, min=401.7ms, max=848.0ms + save_trajectories: mean=8.36s, total=8.36s, count=1, min=8365.0ms, max=8365.0ms + physics_step: mean=20.4ms, total=6.13s, count=300, min=16.6ms, max=42.5ms + save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.9ms, max=4121.9ms + task_sampling: mean=864.2ms, total=864.2ms, count=1, min=864.2ms, max=864.2ms + task_specific_sample: mean=859.9ms, total=859.9ms, count=1, min=859.9ms, max=859.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=544.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/10 22:21:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/10 22:21:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/10 22:21:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:21:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:21:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:21:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:21:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/10 22:21:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) +[05/10 22:21:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/10 22:21:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/10 22:21:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005815m +[05/10 22:21:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/10 22:21:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/10 22:21:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/10 22:21:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76838776 0.94624467 0.00581516] yaw=-156.5deg +[05/10 22:21:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/10 22:21:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80469593 0.76596592 0.00581516] yaw=-167.7deg +[05/10 22:21:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/10 22:21:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/10 22:21:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11616872 1.01864043 0.00581516] yaw=-128.4deg +[05/10 22:21:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/10 22:21:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/10 22:21:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.2ms, total=119.3ms +[05/10 22:21:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.946, 0.006) +[05/10 22:21:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg +[05/10 22:21:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m +[05/10 22:21:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/10 22:21:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/10 22:21:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/10 22:21:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/10 22:21:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/10 22:21:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/10 22:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s +[05/10 22:21:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/10 22:21:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/10 22:21:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/10 22:21:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: True +[05/10 22:21:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.623[m] 96.490[deg] +[05/10 22:21:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/10 22:21:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/10 22:21:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/10 22:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/10 22:22:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... diff --git a/fridge_7/chunk_009/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_009/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 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