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b/fridge_m/sim_chunks/chunk_099/running_log.log @@ -0,0 +1,2985 @@ +05/11 11:47:55 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 11:47:55 INFO: Starting house-by-house rollout of 1 houses with 1 episodes each (1 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 11:47:55 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 11:47:55 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_099'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 39901, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 1, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 11:47:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 11:47:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 11:47:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 11:47:55 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 11:47:55 INFO: Starting house-by-house rollout of 1 houses with 1 episodes each (1 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 11:47:55 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 11:47:55 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_099'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 39904, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 1, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 11:47:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 11:47:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 11:47:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 11:47:55 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 11:47:55 INFO: Starting house-by-house rollout of 1 houses with 1 episodes each (1 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 11:47:55 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 11:47:55 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_099'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 39902, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 1, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 11:47:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 11:47:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 11:47:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 11:47:55 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 11:47:55 INFO: Starting house-by-house rollout of 1 houses with 1 episodes each (1 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 11:47:55 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 11:47:55 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_099'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 39903, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 1, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 11:47:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 11:47:56 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 11:47:56 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 11:47:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 11:47:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 11:47:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 11:47:56 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 11:48:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 11:48:01 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 11:48:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 11:48:01 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 11:48:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 11:48:01 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 11:48:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 11:48:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 11:48:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 11:48:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 11:48:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:48:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:48:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 11:48:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:48:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:48:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 11:48:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:48:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:48:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:48:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:48:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:48:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:48:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:48:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043414m [env.py: 870] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:48:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044589m [env.py: 870] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:48:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 11:48:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:48:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:48:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075235m [env.py: 870] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:48:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82110624 0.63328641 0.07523516] yaw=-167.2deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79089114 0.84053814 0.04341376] yaw=-159.6deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00303478 1.26555126 0.0445885 ] yaw=-133.2deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9773351 0.76243884 0.04341376] yaw=-151.7deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03600417 1.06866222 0.07523516] yaw=-134.1deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89620862 0.99005797 0.07523516] yaw=-154.4deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:48:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=31.4ms, retries=170.3ms, total=201.7ms [env.py: 1075] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.633, 0.075) [env.py: 1079] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.2 deg [env.py: 1082] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78825865 0.06653249 0.04341376] yaw=155.1deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:48:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=32.4ms, retries=184.3ms, total=216.6ms [env.py: 1075] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.841, 0.043) [env.py: 1079] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.6 deg [env.py: 1082] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05757374 0.96612453 0.0445885 ] yaw=-143.7deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06138879 0.91308636 0.0445885 ] yaw=-139.5deg [env.py: 1019] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:48:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=32.2ms, retries=366.0ms, total=398.2ms [env.py: 1075] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.266, 0.045) [env.py: 1079] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.2 deg [env.py: 1082] +05/11 11:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:48:02 INFO: [Worker 0] Worker 0 house 1 episode 0/6 collected=0/1 [pipeline.py: 1044] +05/11 11:48:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:48:02 INFO: [Worker 0] Worker 0 house 1 episode 0/6 collected=0/1 [pipeline.py: 1044] +05/11 11:48:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:48:02 INFO: [Worker 0] Worker 0 house 1 episode 0/6 collected=0/1 [pipeline.py: 1044] +05/11 11:48:05 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 11:48:05 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 11:48:05 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 11:48:05 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 11:48:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:48:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:48:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:48:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:48:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022802m [env.py: 870] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:48:05 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93361737 0.40560254 0.02280244] yaw=172.3deg [env.py: 1019] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89766246 0.17564502 0.02280244] yaw=151.6deg [env.py: 1019] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83916273 1.10567683 0.02280244] yaw=-154.8deg [env.py: 1019] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:48:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=20.9ms, retries=185.0ms, total=206.0ms [env.py: 1075] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.406, 0.023) [env.py: 1079] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.3 deg [env.py: 1082] +05/11 11:48:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m [env.py: 1086] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:48:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:48:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:48:06 INFO: [Worker 0] Worker 0 house 1 episode 0/6 collected=0/1 [pipeline.py: 1044] +05/11 11:48:36 INFO: [Worker 0] Warmed up parallel IK solver in 34.022s [base_object_manipulation_planner_policy.py: 377] +05/11 11:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:48:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:48:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:48:36 INFO: [Worker 0] Warmed up parallel IK solver in 34.265s [base_object_manipulation_planner_policy.py: 377] +05/11 11:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:48:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:48:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:48:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:48:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.149[deg] [grasp_sample.py: 539] +05/11 11:48:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:48:37 INFO: [Worker 0] Warmed up parallel IK solver in 34.957s [base_object_manipulation_planner_policy.py: 377] +05/11 11:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:48:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.010s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:48:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.444[m] 82.880[deg] [grasp_sample.py: 539] +05/11 11:48:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:48:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:48:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:48:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:48:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:48:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:48:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.382s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:48:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.601[m] 82.163[deg] [grasp_sample.py: 539] +05/11 11:48:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:48:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:48:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:48:40 INFO: [Worker 0] Warmed up parallel IK solver in 34.475s [base_object_manipulation_planner_policy.py: 377] +05/11 11:48:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:48:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:48:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:48:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.699s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:48:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.323[m] 89.368[deg] [grasp_sample.py: 539] +05/11 11:48:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:48:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:48:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:48:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:49:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:49:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:49:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:49:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:49:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 11:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 11:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 11:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 11:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 11:49:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 11:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 11:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 11:50:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:50:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:50:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:50:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:50:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 11:50:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.313s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:50:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.090[m] 5.575[deg] [grasp_sample.py: 539] +05/11 11:50:05 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 11:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:50:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:50:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:50:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:50:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:50:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038020m [env.py: 870] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73855175 0.24831978 0.0380204 ] yaw=165.6deg [env.py: 1019] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63409019 0.29893625 0.0380204 ] yaw=178.5deg [env.py: 1019] +05/11 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=271.2ms, total=271.2ms [env.py: 1075] +05/11 11:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.248, 0.038) [env.py: 1079] +05/11 11:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg [env.py: 1082] +05/11 11:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/11 11:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:50:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:50:08 INFO: [Worker 0] Worker 0 house 1 episode 1/6 collected=0/1 [pipeline.py: 1044] +05/11 11:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 11:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:50:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:50:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:50:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:50:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.509[m] 78.574[deg] [grasp_sample.py: 539] +05/11 11:50:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:50:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:50:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:50:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:50:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:50:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:50:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:50:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:51:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:51:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:51:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 11:51:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:51:04 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:51:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 11:51:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:51:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:51:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 11:51:11 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/11 11:51:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:51:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:51:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.28s (batch: 4.31s, save: 10.96s) [pipeline.py: 300] +05/11 11:51:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:51:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:51:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.28s (batch: 4.08s, save: 11.20s) [pipeline.py: 300] +05/11 11:51:19 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.46s: + episode_total: mean=204.38s, total=204.38s, count=1, min=204378.0ms, max=204378.0ms + sensor_polling: mean=371.7ms, total=111.51s, count=300, min=335.5ms, max=503.8ms + save_trajectories: mean=10.96s, total=10.96s, count=1, min=10964.5ms, max=10964.5ms + physics_step: mean=24.1ms, total=7.22s, count=300, min=18.1ms, max=44.6ms + task_sampling: mean=6.46s, total=6.46s, count=1, min=6464.1ms, max=6464.1ms + scene_load: mean=5.89s, total=5.89s, count=1, min=5890.8ms, max=5890.8ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4312.7ms, max=4312.7ms + scene_env_create: mean=4.03s, total=4.03s, count=1, min=4027.2ms, max=4027.2ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1688.6ms, max=1688.6ms + compile_mujoco: mean=976.5ms, total=976.5ms, count=1, min=976.5ms, max=976.5ms + compile_xml_load: mean=603.3ms, total=603.3ms, count=1, min=603.3ms, max=603.3ms + task_specific_sample: mean=569.7ms, total=569.7ms, count=1, min=569.7ms, max=569.7ms + scene_init: mean=113.4ms, total=113.4ms, count=1, min=113.4ms, max=113.4ms + compile_aux_objects: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + compile_aux_policy_objects: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + scene_asset_install: mean=61.4ms, total=61.4ms, count=1, min=61.4ms, max=61.4ms + asset_install_grasps: mean=45.3ms, total=45.3ms, count=1, min=45.3ms, max=45.3ms + compile_robot_add: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=487.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=40.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:51:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=6.08s: + episode_total: mean=204.43s, total=204.43s, count=1, min=204429.1ms, max=204429.1ms + sensor_polling: mean=363.5ms, total=109.06s, count=300, min=332.7ms, max=541.6ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11204.2ms, max=11204.2ms + physics_step: mean=25.6ms, total=7.67s, count=300, min=17.3ms, max=35.2ms + task_sampling: mean=6.08s, total=6.08s, count=1, min=6084.4ms, max=6084.4ms + scene_load: mean=5.47s, total=5.47s, count=1, min=5474.2ms, max=5474.2ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4077.1ms, max=4077.1ms + scene_env_create: mean=3.95s, total=3.95s, count=1, min=3948.6ms, max=3948.6ms + scene_compile: mean=1.22s, total=1.22s, count=1, min=1219.5ms, max=1219.5ms + compile_mujoco: mean=923.7ms, total=923.7ms, count=1, min=923.7ms, max=923.7ms + task_specific_sample: mean=607.5ms, total=607.5ms, count=1, min=607.5ms, max=607.5ms + compile_xml_load: mean=207.7ms, total=207.7ms, count=1, min=207.7ms, max=207.7ms + scene_asset_install: mean=191.5ms, total=191.5ms, count=1, min=191.5ms, max=191.5ms + asset_install_objects: mean=123.3ms, total=123.3ms, count=1, min=123.3ms, max=123.3ms + scene_init: mean=114.4ms, total=114.4ms, count=1, min=114.4ms, max=114.4ms + compile_aux_objects: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + compile_aux_policy_objects: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + asset_install_grasps: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms + compile_robot_add: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=30.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:51:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:51:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:51:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:51:21 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] +05/11 11:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011354m [env.py: 870] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90416769 0.25937978 0.01135366] yaw=167.2deg [env.py: 1019] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6582851 0.48969013 0.01135366] yaw=-178.4deg [env.py: 1019] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82068093 0.33898236 0.01135366] yaw=168.1deg [env.py: 1019] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms [env.py: 1075] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.259, 0.011) [env.py: 1079] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.2 deg [env.py: 1082] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:51:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:51:21 INFO: [Worker 0] Worker 0 house 1 episode 1/6 collected=0/1 [pipeline.py: 1044] +05/11 11:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:51:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:51:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:51:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:51:21 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] +05/11 11:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093860m [env.py: 870] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:51:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 11:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:51:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72719305 0.27346524 0.09386017] yaw=162.7deg [env.py: 1019] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83565792 0.1196078 0.09386017] yaw=147.0deg [env.py: 1019] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11603656 1.17101253 0.09386017] yaw=-138.1deg [env.py: 1019] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.5ms [env.py: 1075] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.273, 0.094) [env.py: 1079] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg [env.py: 1082] +05/11 11:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:51:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:51:22 INFO: [Worker 0] Worker 0 house 1 episode 1/6 collected=0/1 [pipeline.py: 1044] +05/11 11:51:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/11 11:51:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:51:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:51:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:51:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.832s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:51:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.384[m] 91.402[deg] [grasp_sample.py: 539] +05/11 11:51:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:51:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.798s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:51:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.533[m] 80.776[deg] [grasp_sample.py: 539] +05/11 11:51:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:51:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:51:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:51:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:51:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:51:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:51:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:51:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:51:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:51:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.01s (batch: 3.19s, save: 10.81s) [pipeline.py: 300] +05/11 11:51:25 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=10.11s: + episode_total: mean=209.83s, total=209.83s, count=1, min=209829.9ms, max=209829.9ms + sensor_polling: mean=395.5ms, total=112.72s, count=285, min=320.3ms, max=690.2ms + save_trajectories: mean=10.81s, total=10.81s, count=1, min=10812.2ms, max=10812.2ms + task_sampling: mean=10.11s, total=10.11s, count=1, min=10111.1ms, max=10111.1ms + scene_load: mean=9.59s, total=9.59s, count=1, min=9592.6ms, max=9592.6ms + physics_step: mean=28.7ms, total=8.18s, count=285, min=17.4ms, max=41.3ms + scene_env_create: mean=8.12s, total=8.12s, count=1, min=8115.5ms, max=8115.5ms + save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3194.0ms, max=3194.0ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.2ms, max=1298.2ms + compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1042.6ms, max=1042.6ms + task_specific_sample: mean=515.9ms, total=515.9ms, count=1, min=515.9ms, max=515.9ms + compile_xml_load: mean=184.8ms, total=184.8ms, count=1, min=184.8ms, max=184.8ms + scene_init: mean=114.4ms, total=114.4ms, count=1, min=114.4ms, max=114.4ms + scene_asset_install: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms + compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + asset_install_grasps: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:51:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:51:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:51:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023232m [env.py: 870] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68022235 0.31033432 0.02323153] yaw=173.1deg [env.py: 1019] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91068972 0.74060065 0.02323153] yaw=-159.9deg [env.py: 1019] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75814188 0.9349706 0.02323153] yaw=-146.0deg [env.py: 1019] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.0ms, total=167.1ms [env.py: 1075] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.310, 0.023) [env.py: 1079] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg [env.py: 1082] +05/11 11:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:51:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:51:27 INFO: [Worker 0] Worker 0 house 1 episode 1/6 collected=0/1 [pipeline.py: 1044] +05/11 11:51:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 11:51:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:51:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:51:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:51:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.805s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:51:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 82.020[deg] [grasp_sample.py: 539] +05/11 11:51:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:51:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:51:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:51:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:51:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:52:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:52:12 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:52:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:52:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:37 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:52:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 11:52:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:52:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:52:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.48s (batch: 3.66s, save: 10.81s) [pipeline.py: 300] +05/11 11:52:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:52 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=6.75s: + episode_total: mean=147.46s, total=294.92s, count=2, min=130028.9ms, max=164889.5ms + sensor_polling: mean=371.7ms, total=177.66s, count=478, min=320.4ms, max=631.0ms + physics_step: mean=25.3ms, total=12.08s, count=478, min=18.2ms, max=61.4ms + save_trajectories: mean=10.81s, total=10.81s, count=1, min=10812.0ms, max=10812.0ms + task_sampling: mean=3.37s, total=6.75s, count=2, min=557.7ms, max=6191.2ms + scene_load: mean=5.49s, total=5.49s, count=1, min=5492.6ms, max=5492.6ms + scene_env_create: mean=4.02s, total=4.02s, count=1, min=4021.6ms, max=4021.6ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3663.6ms, max=3663.6ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1303.4ms, max=1303.4ms + task_specific_sample: mean=625.5ms, total=1.25s, count=2, min=555.0ms, max=695.9ms + compile_mujoco: mean=995.4ms, total=995.4ms, count=1, min=995.4ms, max=995.4ms + compile_xml_load: mean=217.3ms, total=217.3ms, count=1, min=217.3ms, max=217.3ms + scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + scene_asset_install: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + asset_install_grasps: mean=35.9ms, total=35.9ms, count=1, min=35.9ms, max=35.9ms + compile_robot_add: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=1.2ms, max=1.3ms + mj_forward_sync: mean=456.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.4us, total=0.0ms, count=2, 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] +05/11 11:52:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 11:52:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:52:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:52:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:52:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:52:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:52:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:52:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:52:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:52:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:52:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081093m [env.py: 870] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:52:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:52:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79599623 0.52797872 0.08109324] yaw=-168.5deg [env.py: 1019] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93103845 0.25785793 0.08109324] yaw=161.4deg [env.py: 1019] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:52:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=275.4ms, total=275.5ms [env.py: 1075] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.528, 0.081) [env.py: 1079] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg [env.py: 1082] +05/11 11:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:52:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:52:54 INFO: [Worker 0] Worker 0 house 1 episode 2/6 collected=0/1 [pipeline.py: 1044] +05/11 11:52:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/11 11:52:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:52:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:52:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.659s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:52:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.637[deg] [grasp_sample.py: 539] +05/11 11:52:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:52:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:52:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:52:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.582s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:52:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.493[m] 94.399[deg] [grasp_sample.py: 539] +05/11 11:52:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:52:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:52:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:52:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:53:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:53:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:24 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:53:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:53:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:53:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:53:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 11:53:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.549s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:53:29 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.791[deg] [grasp_sample.py: 539] +05/11 11:53:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:53:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:53:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:53:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:53:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:53:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:53:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 11:53:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.536s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:53:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.778[deg] [grasp_sample.py: 539] +05/11 11:53:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:53:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:53:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10 [base_object_manipulation_planner_policy.py: 494] +05/11 11:53:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:53:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:53:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:53:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:53:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 11:53:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.472s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:53:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.775[deg] [grasp_sample.py: 539] +05/11 11:53:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:53:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:53:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:53:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:53:42 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:53:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:53:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:53:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 11:53:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:54:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:54:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 11:54:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:54:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:54:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:54:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.88s (batch: 4.39s, save: 11.49s) [pipeline.py: 300] +05/11 11:54:07 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s: + episode_total: mean=159.87s, total=159.87s, count=1, min=159868.7ms, max=159868.7ms + sensor_polling: mean=354.1ms, total=106.23s, count=300, min=310.4ms, max=543.7ms + save_trajectories: mean=11.49s, total=11.49s, count=1, min=11487.4ms, max=11487.4ms + physics_step: mean=25.0ms, total=7.49s, count=300, min=17.0ms, max=35.8ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4393.8ms, max=4393.8ms + task_sampling: mean=430.4ms, total=430.4ms, count=1, min=430.4ms, max=430.4ms + task_specific_sample: mean=426.5ms, total=426.5ms, count=1, min=426.5ms, max=426.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:54:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:54:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:54:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:54:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:54:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:54:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:54:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028447m [env.py: 870] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:54:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88041193 0.98890025 0.02844739] yaw=-143.4deg [env.py: 1019] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0017052 1.23287307 0.02844739] yaw=-123.5deg [env.py: 1019] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71775241 0.91589784 0.02844739] yaw=-167.2deg [env.py: 1019] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:54:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.8ms, total=140.8ms [env.py: 1075] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.989, 0.028) [env.py: 1079] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg [env.py: 1082] +05/11 11:54:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:54:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:54:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:54:08 INFO: [Worker 0] Worker 0 house 1 episode 2/6 collected=0/1 [pipeline.py: 1044] +05/11 11:54:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/11 11:54:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:54:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:54:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:54:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:54:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 11:54:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:54:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.508s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:54:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 101.515[deg] [grasp_sample.py: 539] +05/11 11:54:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:54:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:54:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:54:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:54:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:54:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:54:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.82s (batch: 3.88s, save: 10.94s) [pipeline.py: 300] +05/11 11:54:20 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s: + episode_total: mean=178.95s, total=178.95s, count=1, min=178945.8ms, max=178945.8ms + sensor_polling: mean=372.7ms, total=111.80s, count=300, min=324.3ms, max=574.0ms + save_trajectories: mean=10.94s, total=10.94s, count=1, min=10943.3ms, max=10943.3ms + physics_step: mean=25.7ms, total=7.70s, count=300, min=17.4ms, max=62.3ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3879.0ms, max=3879.0ms + task_sampling: mean=453.2ms, total=453.2ms, count=1, min=453.2ms, max=453.2ms + task_specific_sample: mean=449.0ms, total=449.0ms, count=1, min=449.0ms, max=449.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=496.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.3us, 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] +05/11 11:54:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:54:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:54:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:54:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:54:21 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] +05/11 11:54:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:54:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004563m [env.py: 870] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:54:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75592667 0.33691889 0.00456279] yaw=172.0deg [env.py: 1019] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.16750953 1.05483641 0.00456279] yaw=-142.0deg [env.py: 1019] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68800999 0.8481191 0.00456279] yaw=-160.5deg [env.py: 1019] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:54:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.7ms [env.py: 1075] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.337, 0.005) [env.py: 1079] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg [env.py: 1082] +05/11 11:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:54:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:54:22 INFO: [Worker 0] Worker 0 house 1 episode 2/6 collected=0/1 [pipeline.py: 1044] +05/11 11:54:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 11:54:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:54:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:54:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:54:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.735s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:54:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.505[m] 91.594[deg] [grasp_sample.py: 539] +05/11 11:54:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:54:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:54:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:54:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:54:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:54:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:54:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.56s (batch: 4.19s, save: 11.37s) [pipeline.py: 300] +05/11 11:54:25 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.38s: + episode_total: mean=183.66s, total=183.66s, count=1, min=183660.8ms, max=183660.8ms + sensor_polling: mean=377.1ms, total=113.13s, count=300, min=334.5ms, max=701.6ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11369.2ms, max=11369.2ms + physics_step: mean=27.1ms, total=8.14s, count=300, min=17.1ms, max=62.3ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4194.8ms, max=4194.8ms + task_sampling: mean=382.1ms, total=382.1ms, count=1, min=382.1ms, max=382.1ms + task_specific_sample: mean=378.0ms, total=378.0ms, count=1, min=378.0ms, max=378.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=454.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:54:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:54:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:54:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:54:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:54:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:54:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:54:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018502m [env.py: 870] +05/11 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:54:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.61274272 0.51967412 0.01850156] yaw=-188.1deg [env.py: 1019] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99723837 0.79563289 0.01850156] yaw=-154.3deg [env.py: 1019] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01333566 1.09243569 0.01850156] yaw=-146.1deg [env.py: 1019] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:54:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=174.4ms, total=174.5ms [env.py: 1075] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.613, 0.520, 0.019) [env.py: 1079] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg [env.py: 1082] +05/11 11:54:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/11 11:54:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:54:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:54:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:54:27 INFO: [Worker 0] Worker 0 house 1 episode 2/6 collected=0/1 [pipeline.py: 1044] +05/11 11:54:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 11:54:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:54:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:54:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:54:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.888s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:54:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.667[m] 95.814[deg] [grasp_sample.py: 539] +05/11 11:54:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:54:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:54:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:54:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 11:54:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:54:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:54:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:54:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:54:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 11:54:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.596s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:54:51 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.517[deg] [grasp_sample.py: 539] +05/11 11:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:54:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:54:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:55:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:55:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:55:11 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:55:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:55:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:35 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:55:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 11:55:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:55:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:55:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:55:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.73s (batch: 3.80s, save: 10.93s) [pipeline.py: 300] +05/11 11:55:50 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s: + episode_total: mean=176.69s, total=176.69s, count=1, min=176685.5ms, max=176685.5ms + sensor_polling: mean=367.8ms, total=110.34s, count=300, min=327.9ms, max=690.4ms + save_trajectories: mean=10.93s, total=10.93s, count=1, min=10930.2ms, max=10930.2ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=17.1ms, max=35.4ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3798.0ms, max=3798.0ms + task_sampling: mean=554.3ms, total=554.3ms, count=1, min=554.3ms, max=554.3ms + task_specific_sample: mean=550.3ms, total=550.3ms, count=1, min=550.3ms, max=550.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=459.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:55:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:55:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:55:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:55:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:55:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:55:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:55:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067271m [env.py: 870] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:55:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66150333 0.63837652 0.06727124] yaw=-160.1deg [env.py: 1019] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94125837 0.36869461 0.06727124] yaw=169.9deg [env.py: 1019] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7361913 0.83412007 0.06727124] yaw=-169.9deg [env.py: 1019] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:55:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.0ms, total=201.1ms [env.py: 1075] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.638, 0.067) [env.py: 1079] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg [env.py: 1082] +05/11 11:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:55:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:55:52 INFO: [Worker 0] Worker 0 house 1 episode 3/6 collected=0/1 [pipeline.py: 1044] +05/11 11:55:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 11:55:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:55:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:55:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:55:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.259s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:55:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.625[m] 90.723[deg] [grasp_sample.py: 539] +05/11 11:55:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:55:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:55:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:55:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:56:12 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:56:25 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:56:26 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:56:38 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:56:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 11:56:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:56:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:56:51 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:56:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 11:56:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:56:53 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:56:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 11:56:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:56:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:56:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:56:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.67s (batch: 4.30s, save: 11.37s) [pipeline.py: 300] +05/11 11:56:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:56:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s: + episode_total: mean=166.30s, total=166.30s, count=1, min=166296.8ms, max=166296.8ms + sensor_polling: mean=369.8ms, total=110.93s, count=300, min=322.8ms, max=587.2ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11369.0ms, max=11369.0ms + physics_step: mean=23.7ms, total=7.11s, count=300, min=17.1ms, max=67.0ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4300.9ms, max=4300.9ms + task_sampling: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms + task_specific_sample: mean=468.0ms, total=468.0ms, count=1, min=468.0ms, max=468.0ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=692.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:56:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:56:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:56:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:56:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:56:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:56:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:56:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075734m [env.py: 870] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:56:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90076722 0.05187545 0.0757337 ] yaw=153.5deg [env.py: 1019] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:56:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.9ms, total=239.9ms [env.py: 1075] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.052, 0.076) [env.py: 1079] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.5 deg [env.py: 1082] +05/11 11:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:56:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:56:56 INFO: [Worker 0] Worker 0 house 1 episode 3/6 collected=0/1 [pipeline.py: 1044] +05/11 11:56:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 11:56:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:56:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:56:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:56:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.044s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:56:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.461[m] 80.012[deg] [grasp_sample.py: 539] +05/11 11:56:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:56:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:56:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:56:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:56:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:57:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:57:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:57:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.73s (batch: 3.99s, save: 10.74s) [pipeline.py: 300] +05/11 11:57:06 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.56s: + episode_total: mean=165.31s, total=165.31s, count=1, min=165312.9ms, max=165312.9ms + sensor_polling: mean=371.6ms, total=111.47s, count=300, min=321.3ms, max=601.5ms + save_trajectories: mean=10.74s, total=10.74s, count=1, min=10742.1ms, max=10742.1ms + physics_step: mean=26.6ms, total=7.99s, count=300, min=18.1ms, max=53.9ms + save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3985.5ms, max=3985.5ms + task_sampling: mean=562.1ms, total=562.1ms, count=1, min=562.1ms, max=562.1ms + task_specific_sample: mean=557.8ms, total=557.8ms, count=1, min=557.8ms, max=557.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=577.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:57:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:57:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:57:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:57:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:57:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:57:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:57:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018929m [env.py: 870] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:57:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:57:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:57:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:57:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.85s (batch: 4.14s, save: 10.71s) [pipeline.py: 300] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6832328 0.61292413 0.01892923] yaw=-176.1deg [env.py: 1019] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78988383 0.80383256 0.01892923] yaw=-157.7deg [env.py: 1019] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9196976 0.93049352 0.01892923] yaw=-138.8deg [env.py: 1019] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.2ms, total=236.2ms [env.py: 1075] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.683, 0.613, 0.019) [env.py: 1079] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg [env.py: 1082] +05/11 11:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:57:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:57:08 INFO: [Worker 0] Worker 0 house 1 episode 3/6 collected=0/1 [pipeline.py: 1044] +05/11 11:57:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 11:57:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:57:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:57:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:57:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s: + episode_total: mean=162.24s, total=162.24s, count=1, min=162242.5ms, max=162242.5ms + sensor_polling: mean=359.9ms, total=107.97s, count=300, min=328.5ms, max=621.9ms + save_trajectories: mean=10.71s, total=10.71s, count=1, min=10713.8ms, max=10713.8ms + physics_step: mean=24.9ms, total=7.47s, count=300, min=16.9ms, max=38.7ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4136.9ms, max=4136.9ms + task_sampling: mean=494.5ms, total=494.5ms, count=1, min=494.5ms, max=494.5ms + task_specific_sample: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=462.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.2us, 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] +05/11 11:57:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.879s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:57:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 91.078[deg] [grasp_sample.py: 539] +05/11 11:57:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:57:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:57:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:57:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:57:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:57:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:57:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:57:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:57:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:57:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088237m [env.py: 870] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:57:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7573149 0.50058389 0.08823723] yaw=-176.2deg [env.py: 1019] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93496895 1.157786 0.08823723] yaw=-134.4deg [env.py: 1019] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87254913 0.56483702 0.08823723] yaw=-165.1deg [env.py: 1019] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:57:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=192.4ms, total=192.4ms [env.py: 1075] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.501, 0.088) [env.py: 1079] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.2 deg [env.py: 1082] +05/11 11:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:57:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 11:57:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:57:11 INFO: [Worker 0] Worker 0 house 1 episode 3/6 collected=0/1 [pipeline.py: 1044] +05/11 11:57:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/11 11:57:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:57:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:57:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:57:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.216s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:57:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.505[m] 82.387[deg] [grasp_sample.py: 539] +05/11 11:57:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:57:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:57:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:57:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:57:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:57:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:57:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:57:55 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:57:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:57:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:58:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:58:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:58:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:58:18 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:58:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 11:58:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:58:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:58:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:58:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.73s (batch: 3.64s, save: 11.09s) [pipeline.py: 300] +05/11 11:58:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.51s: + episode_total: mean=162.07s, total=162.07s, count=1, min=162068.4ms, max=162068.4ms + sensor_polling: mean=370.9ms, total=111.26s, count=300, min=332.1ms, max=726.7ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11089.1ms, max=11089.1ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=21.5ms, max=63.9ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3639.8ms, max=3639.8ms + task_sampling: mean=508.1ms, total=508.1ms, count=1, min=508.1ms, max=508.1ms + task_specific_sample: mean=503.5ms, total=503.5ms, count=1, min=503.5ms, max=503.5ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=579.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 11:58:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:58:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:58:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:58:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:58:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:58:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:58:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049036m [env.py: 870] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:58:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14565886 1.12130075 0.04903562] yaw=-130.3deg [env.py: 1019] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72716019 0.97192336 0.04903562] yaw=-148.5deg [env.py: 1019] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11243097 1.01317673 0.04903562] yaw=-144.8deg [env.py: 1019] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:58:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.7ms, total=138.8ms [env.py: 1075] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.146, 1.121, 0.049) [env.py: 1079] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.3 deg [env.py: 1082] +05/11 11:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m [env.py: 1086] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:58:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:58:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:58:36 INFO: [Worker 0] Worker 0 house 1 episode 4/6 collected=0/1 [pipeline.py: 1044] +05/11 11:58:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/11 11:58:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:58:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:58:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:58:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.057s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:58:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 97.251[deg] [grasp_sample.py: 539] +05/11 11:58:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:58:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:58:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 11:58:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:58:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:58:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:58:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:58:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 11:59:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.917s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:59:00 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.982[deg] [grasp_sample.py: 539] +05/11 11:59:01 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 11:59:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:59:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:59:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:59:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:59:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:59:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:59:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071994m [env.py: 870] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:59:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94290253 0.59080978 0.07199429] yaw=-171.5deg [env.py: 1019] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94730379 0.07440221 0.07199429] yaw=154.5deg [env.py: 1019] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:59:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.6ms, total=243.6ms [env.py: 1075] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.591, 0.072) [env.py: 1079] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg [env.py: 1082] +05/11 11:59:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.767m [env.py: 1086] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:59:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:59:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:59:03 INFO: [Worker 0] Worker 0 house 1 episode 4/6 collected=0/1 [pipeline.py: 1044] +05/11 11:59:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 11:59:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:59:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:59:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:59:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.755s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:59:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.313[m] 82.620[deg] [grasp_sample.py: 539] +05/11 11:59:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:59:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:59:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:13 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 11:59:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 11:59:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:59:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:59:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 11:59:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:59:20 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.848s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:59:20 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.111[deg] [grasp_sample.py: 539] +05/11 11:59:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:59:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:59:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 11:59:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 11:59:39 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 11:59:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 11:59:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 11:59:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:47 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 11:59:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 11:59:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 11:59:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.02s (batch: 4.11s, save: 10.91s) [pipeline.py: 300] +05/11 11:59:55 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.53s: + episode_total: mean=166.82s, total=166.82s, count=1, min=166819.1ms, max=166819.1ms + sensor_polling: mean=377.7ms, total=113.32s, count=300, min=335.2ms, max=646.2ms + save_trajectories: mean=10.91s, total=10.91s, count=1, min=10905.9ms, max=10905.9ms + physics_step: mean=25.9ms, total=7.76s, count=300, min=21.6ms, max=81.1ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4114.6ms, max=4114.6ms + task_sampling: mean=530.7ms, total=530.7ms, count=1, min=530.7ms, max=530.7ms + task_specific_sample: mean=527.0ms, total=527.0ms, count=1, min=527.0ms, max=527.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=468.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.2us, 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] +05/11 11:59:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 11:59:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 11:59:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:59:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 11:59:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 11:59:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 11:59:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007414m [env.py: 870] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 11:59:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82896918 0.21118359 0.00741419] yaw=170.4deg [env.py: 1019] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93777806 0.58244354 0.00741419] yaw=-162.9deg [env.py: 1019] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05685074 0.87927948 0.00741419] yaw=-156.7deg [env.py: 1019] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 11:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.7ms, total=144.8ms [env.py: 1075] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.211, 0.007) [env.py: 1079] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg [env.py: 1082] +05/11 11:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 11:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 11:59:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 11:59:56 INFO: [Worker 0] Worker 0 house 1 episode 4/6 collected=0/1 [pipeline.py: 1044] +05/11 11:59:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 11:59:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 11:59:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 11:59:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 11:59:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.800s, found feasible grasp: True [grasp_sample.py: 500] +05/11 11:59:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.449[m] 80.866[deg] [grasp_sample.py: 539] +05/11 11:59:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 11:59:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 11:59:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 11:59:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:00:13 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 12:00:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 12:00:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 12:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 12:00:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 12:00:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.13s (batch: 4.04s, save: 11.09s) [pipeline.py: 300] +05/11 12:00:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 12:00:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 12:00:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 12:00:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:00:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:00:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 12:00:29 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.49s: + episode_total: mean=198.38s, total=198.38s, count=1, min=198384.7ms, max=198384.7ms + sensor_polling: mean=370.1ms, total=111.03s, count=300, min=330.9ms, max=620.0ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11092.2ms, max=11092.2ms + physics_step: mean=23.7ms, total=7.12s, count=300, min=17.3ms, max=32.8ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.1ms, max=4040.1ms + task_sampling: mean=492.6ms, total=492.6ms, count=1, min=492.6ms, max=492.6ms + task_specific_sample: mean=488.4ms, total=488.4ms, count=1, min=488.4ms, max=488.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=475.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 12:00:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 12:00:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:00:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:00:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:00:30 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] +05/11 12:00:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:00:30 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] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021450m [env.py: 870] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:00:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65439397 0.71753669 0.02144975] yaw=-169.7deg [env.py: 1019] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91020457 0.82844337 0.02144975] yaw=-145.7deg [env.py: 1019] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75783941 0.13548075 0.02144975] yaw=170.0deg [env.py: 1019] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:00:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.1ms [env.py: 1075] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.654, 0.718, 0.021) [env.py: 1079] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg [env.py: 1082] +05/11 12:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:00:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.543s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:00:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.264[deg] [grasp_sample.py: 539] +05/11 12:00:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:00:30 INFO: [Worker 0] Worker 0 house 1 episode 4/6 collected=0/1 [pipeline.py: 1044] +05/11 12:00:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 12:00:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:00:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:00:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:00:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:00:32 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 12:00:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 12:00:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:00:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:00:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:00:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:00:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:00:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004710m [env.py: 870] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:00:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93010684 0.56860609 0.00471046] yaw=-177.8deg [env.py: 1019] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84759529 0.48208516 0.00471046] yaw=-182.6deg [env.py: 1019] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7862765 0.06962192 0.00471046] yaw=163.9deg [env.py: 1019] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:00:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.5ms, total=191.6ms [env.py: 1075] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.569, 0.005) [env.py: 1079] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.8 deg [env.py: 1082] +05/11 12:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m [env.py: 1086] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:00:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:00:34 INFO: [Worker 0] Worker 0 house 1 episode 5/6 collected=0/1 [pipeline.py: 1044] +05/11 12:00:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 12:00:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:00:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:00:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.513s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:00:34 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.619[m] 90.763[deg] [grasp_sample.py: 539] +05/11 12:00:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:00:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:00:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:00:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.693s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:00:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 96.769[deg] [grasp_sample.py: 539] +05/11 12:00:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:00:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:00:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:00:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:00:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:00:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:00:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:00:57 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 12:01:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:01:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:01:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:01:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 12:01:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 12:01:23 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/11 12:01:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:01:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:01:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:01:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 12:01:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 12:01:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 13.91s (batch: 3.52s, save: 10.39s) [pipeline.py: 300] +05/11 12:01:38 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.08s: + episode_total: mean=140.24s, total=280.48s, count=2, min=125739.0ms, max=154743.1ms + sensor_polling: mean=379.5ms, total=202.64s, count=534, min=332.2ms, max=680.1ms + physics_step: mean=24.5ms, total=13.08s, count=534, min=16.9ms, max=96.9ms + save_trajectories: mean=10.39s, total=10.39s, count=1, min=10391.1ms, max=10391.1ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3517.2ms, max=3517.2ms + task_sampling: mean=539.4ms, total=1.08s, count=2, min=527.1ms, max=551.7ms + task_specific_sample: mean=535.5ms, total=1.07s, count=2, min=523.1ms, max=548.0ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=459.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 12:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 12:01:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:01:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:01:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:01:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:01:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060981m [env.py: 870] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15204502 1.15216013 0.06098107] yaw=-130.3deg [env.py: 1019] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06995251 1.22151813 0.06098107] yaw=-120.6deg [env.py: 1019] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85667697 0.71828743 0.06098107] yaw=-162.8deg [env.py: 1019] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:01:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=178.0ms, total=178.1ms [env.py: 1075] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.152, 1.152, 0.061) [env.py: 1079] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.3 deg [env.py: 1082] +05/11 12:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:01:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:01:39 INFO: [Worker 0] Worker 0 house 1 episode 5/6 collected=0/1 [pipeline.py: 1044] +05/11 12:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/11 12:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:01:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:01:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:01:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.359s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:01:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 95.771[deg] [grasp_sample.py: 539] +05/11 12:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:01:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:01:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:01:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 12:01:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 12:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 12:01:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 12:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 12:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 12:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 12:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 12:02:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 12:02:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 12:02:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:02:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:02:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 12:02:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.703s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:02:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.998[deg] [grasp_sample.py: 539] +05/11 12:02:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:02:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:02:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:02:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:02:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:02:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:02:18 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 12:02:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:02:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:02:36 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 12:02:39 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 12:02:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 12:02:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 12:02:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 12:03:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 12:03:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 12:03:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.34s (batch: 4.15s, save: 11.20s) [pipeline.py: 300] +05/11 12:03:01 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s: + episode_total: mean=184.70s, total=184.70s, count=1, min=184701.6ms, max=184701.6ms + sensor_polling: mean=375.4ms, total=112.61s, count=300, min=337.9ms, max=659.7ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11195.3ms, max=11195.3ms + physics_step: mean=26.2ms, total=7.87s, count=300, min=20.3ms, max=62.1ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4148.7ms, max=4148.7ms + task_sampling: mean=454.6ms, total=454.6ms, count=1, min=454.6ms, max=454.6ms + task_specific_sample: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=451.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.3us, 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] +05/11 12:03:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 12:03:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:03:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:03:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:03:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:03:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:03:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072777m [env.py: 870] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:03:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77784537 0.59493242 0.07277718] yaw=-182.6deg [env.py: 1019] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87608423 0.67914969 0.07277718] yaw=-161.6deg [env.py: 1019] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77227948 0.62991302 0.07277718] yaw=-176.3deg [env.py: 1019] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:03:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.9ms, total=146.9ms [env.py: 1075] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.595, 0.073) [env.py: 1079] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.6 deg [env.py: 1082] +05/11 12:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:03:03 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 12:03:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 12:03:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 12:03:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:03:03 INFO: [Worker 0] Worker 0 house 1 episode 5/6 collected=0/1 [pipeline.py: 1044] +05/11 12:03:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/11 12:03:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:03:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:03:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:03:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.752s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:03:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 84.017[deg] [grasp_sample.py: 539] +05/11 12:03:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:03:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:03:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:03:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:03:06 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 12:03:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 12:03:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 12:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 12:03:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 12:03:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 15.26s (batch: 4.27s, save: 10.99s) [pipeline.py: 300] +05/11 12:03:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:19 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s: + episode_total: mean=168.52s, total=168.52s, count=1, min=168523.9ms, max=168523.9ms + sensor_polling: mean=373.3ms, total=111.98s, count=300, min=316.8ms, max=639.9ms + save_trajectories: mean=10.99s, total=10.99s, count=1, min=10986.2ms, max=10986.2ms + physics_step: mean=25.3ms, total=7.58s, count=300, min=17.0ms, max=41.6ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4268.9ms, max=4268.9ms + task_sampling: mean=486.8ms, total=486.8ms, count=1, min=486.8ms, max=486.8ms + task_specific_sample: mean=482.8ms, total=482.8ms, count=1, min=482.8ms, max=482.8ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=456.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 12:03:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 12:03:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:03:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:03:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037689m [env.py: 870] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:03:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72916146 0.24820973 0.03768879] yaw=162.7deg [env.py: 1019] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78652723 0.24228849 0.03768879] yaw=166.5deg [env.py: 1019] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66852558 0.60159899 0.03768879] yaw=-184.0deg [env.py: 1019] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.6ms, total=96.7ms [env.py: 1075] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.248, 0.038) [env.py: 1079] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg [env.py: 1082] +05/11 12:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:03:20 INFO: [Worker 0] Worker 0 house 1 episode 5/6 collected=0/1 [pipeline.py: 1044] +05/11 12:03:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 12:03:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:03:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:03:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:03:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 12:03:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 12:03:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.90s (batch: 3.88s, save: 11.01s) [pipeline.py: 300] +05/11 12:03:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.959s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:03:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.551[m] 89.649[deg] [grasp_sample.py: 539] +05/11 12:03:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:03:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:03:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.91s: + episode_total: mean=142.65s, total=285.30s, count=2, min=116828.5ms, max=168475.5ms + sensor_polling: mean=366.0ms, total=203.84s, count=557, min=311.2ms, max=707.8ms + physics_step: mean=24.1ms, total=13.41s, count=557, min=17.0ms, max=37.6ms + save_trajectories: mean=11.01s, total=11.01s, count=1, min=11013.2ms, max=11013.2ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3883.6ms, max=3883.6ms + task_sampling: mean=455.4ms, total=910.9ms, count=2, min=444.7ms, max=466.2ms + task_specific_sample: mean=452.3ms, total=904.5ms, count=2, min=441.6ms, max=462.9ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.2ms, max=1.8ms + mj_forward_sync: mean=456.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=19.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 12:03:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:23 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:03:23 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:03:23 INFO: [Worker 0] Worker 0 completed house 1: 4/4 successful episodes [pipeline.py: 1323] +05/11 12:03:23 INFO: [Worker 0] [PROFILE] House 1 complete: 4/4 successful, 4 episodes, total_time=1645.30s + House averages: + episode_total: mean=153.16s, total=918.98s, count=6, min=116828.5ms, max=176685.5ms + sensor_polling: mean=368.9ms, total=603.10s, count=1635, min=311.2ms, max=726.7ms + save_trajectories: mean=10.96s, total=43.84s, count=4, min=10812.0ms, max=11089.1ms + physics_step: mean=24.5ms, total=40.07s, count=1635, min=17.0ms, max=63.9ms + save_batch_prep: mean=3.75s, total=14.99s, count=4, min=3639.8ms, max=3883.6ms + task_sampling: mean=1.45s, total=8.72s, count=6, min=444.7ms, max=6191.2ms + scene_load: mean=5.49s, total=5.49s, count=1, min=5492.6ms, max=5492.6ms + scene_env_create: mean=4.02s, total=4.02s, count=1, min=4021.6ms, max=4021.6ms + task_specific_sample: mean=534.9ms, total=3.21s, count=6, min=441.6ms, max=695.9ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1303.4ms, max=1303.4ms + compile_mujoco: mean=995.4ms, total=995.4ms, count=1, min=995.4ms, max=995.4ms + compile_xml_load: mean=217.3ms, total=217.3ms, count=1, min=217.3ms, max=217.3ms + scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + scene_asset_install: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + asset_install_grasps: mean=35.9ms, total=35.9ms, count=1, min=35.9ms, max=35.9ms + compile_robot_add: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms + scene_randomize: mean=1.8ms, total=11.1ms, count=6, min=1.2ms, max=3.0ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=477.6us, total=2.9ms, count=6, min=0.5ms, max=0.6ms + policy_setup: mean=20.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 12:03:23 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 12:03:23 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 4 episodes, total_time=1645.30s + Worker averages: + episode_total: mean=153.16s, total=918.98s, count=6, min=116828.5ms, max=176685.5ms + sensor_polling: mean=368.9ms, total=603.10s, count=1635, min=311.2ms, max=726.7ms + save_trajectories: mean=10.96s, total=43.84s, count=4, min=10812.0ms, max=11089.1ms + physics_step: mean=24.5ms, total=40.07s, count=1635, min=17.0ms, max=63.9ms + save_batch_prep: mean=3.75s, total=14.99s, count=4, min=3639.8ms, max=3883.6ms + task_sampling: mean=1.45s, total=8.72s, count=6, min=444.7ms, max=6191.2ms + scene_load: mean=5.49s, total=5.49s, count=1, min=5492.6ms, max=5492.6ms + scene_env_create: mean=4.02s, total=4.02s, count=1, min=4021.6ms, max=4021.6ms + task_specific_sample: mean=534.9ms, total=3.21s, count=6, min=441.6ms, max=695.9ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1303.4ms, max=1303.4ms + compile_mujoco: mean=995.4ms, total=995.4ms, count=1, min=995.4ms, max=995.4ms + compile_xml_load: mean=217.3ms, total=217.3ms, count=1, min=217.3ms, max=217.3ms + scene_init: mean=117.9ms, total=117.9ms, count=1, min=117.9ms, max=117.9ms + compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms + scene_asset_install: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms + asset_install_grasps: mean=35.9ms, total=35.9ms, count=1, min=35.9ms, max=35.9ms + compile_robot_add: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms + scene_randomize: mean=1.8ms, total=11.1ms, count=6, min=1.2ms, max=3.0ms + asset_install_objects: mean=10.6ms, total=10.6ms, count=1, min=10.6ms, max=10.6ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=477.6us, total=2.9ms, count=6, min=0.5ms, max=0.6ms + policy_setup: mean=20.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 12:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 12:03:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 12:03:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 12:03:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:03:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:03:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 12:03:27 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 12:03:27 INFO: Success count: 4, Total count: 4 [pipeline.py: 1491] +05/11 12:03:27 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 12:03:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.346s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:03:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.279[deg] [grasp_sample.py: 539] +05/11 12:03:30 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 12:03:32 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:03:32 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:03:32 INFO: [Worker 0] Worker 0 completed house 1: 4/4 successful episodes [pipeline.py: 1323] +05/11 12:03:32 INFO: [Worker 0] [PROFILE] House 1 complete: 4/4 successful, 4 episodes, total_time=1684.48s + House averages: + episode_total: mean=154.62s, total=927.73s, count=6, min=111247.7ms, max=209829.9ms + sensor_polling: mean=371.8ms, total=619.49s, count=1666, min=310.4ms, max=697.4ms + save_trajectories: mean=11.01s, total=44.06s, count=4, min=10391.1ms, max=11487.4ms + physics_step: mean=25.0ms, total=41.70s, count=1666, min=16.9ms, max=96.9ms + save_batch_prep: mean=3.85s, total=15.41s, count=4, min=3194.0ms, max=4393.8ms + task_sampling: mean=2.09s, total=12.55s, count=6, min=430.4ms, max=10111.1ms + scene_load: mean=9.59s, total=9.59s, count=1, min=9592.6ms, max=9592.6ms + scene_env_create: mean=8.12s, total=8.12s, count=1, min=8115.5ms, max=8115.5ms + task_specific_sample: mean=489.6ms, total=2.94s, count=6, min=426.5ms, max=548.0ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.2ms, max=1298.2ms + compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1042.6ms, max=1042.6ms + compile_xml_load: mean=184.8ms, total=184.8ms, count=1, min=184.8ms, max=184.8ms + scene_init: mean=114.4ms, total=114.4ms, count=1, min=114.4ms, max=114.4ms + scene_asset_install: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms + compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + asset_install_grasps: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + scene_randomize: mean=2.3ms, total=13.9ms, count=6, min=1.1ms, max=3.2ms + asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=498.7us, total=3.0ms, count=6, min=0.4ms, max=0.7ms + policy_setup: mean=20.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 12:03:32 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 12:03:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 4 episodes, total_time=1684.48s + Worker averages: + episode_total: mean=154.62s, total=927.73s, count=6, min=111247.7ms, max=209829.9ms + sensor_polling: mean=371.8ms, total=619.49s, count=1666, min=310.4ms, max=697.4ms + save_trajectories: mean=11.01s, total=44.06s, count=4, min=10391.1ms, max=11487.4ms + physics_step: mean=25.0ms, total=41.70s, count=1666, min=16.9ms, max=96.9ms + save_batch_prep: mean=3.85s, total=15.41s, count=4, min=3194.0ms, max=4393.8ms + task_sampling: mean=2.09s, total=12.55s, count=6, min=430.4ms, max=10111.1ms + scene_load: mean=9.59s, total=9.59s, count=1, min=9592.6ms, max=9592.6ms + scene_env_create: mean=8.12s, total=8.12s, count=1, min=8115.5ms, max=8115.5ms + task_specific_sample: mean=489.6ms, total=2.94s, count=6, min=426.5ms, max=548.0ms + scene_compile: mean=1.30s, total=1.30s, count=1, min=1298.2ms, max=1298.2ms + compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1042.6ms, max=1042.6ms + compile_xml_load: mean=184.8ms, total=184.8ms, count=1, min=184.8ms, max=184.8ms + scene_init: mean=114.4ms, total=114.4ms, count=1, min=114.4ms, max=114.4ms + scene_asset_install: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms + compile_aux_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_policy_objects: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + asset_install_grasps: mean=46.8ms, total=46.8ms, count=1, min=46.8ms, max=46.8ms + scene_randomize: mean=2.3ms, total=13.9ms, count=6, min=1.1ms, max=3.2ms + asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms + compile_robot_add: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=498.7us, total=3.0ms, count=6, min=0.4ms, max=0.7ms + policy_setup: mean=20.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 12:03:35 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 12:03:35 INFO: Success count: 4, Total count: 4 [pipeline.py: 1491] +05/11 12:03:35 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 12:03:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:03:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:03:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:04:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:04:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:04:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:05:06 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 12:05:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 12:05:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 12:05:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 12:05:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 12:05:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 12:05:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.52s (batch: 3.92s, save: 10.60s) [pipeline.py: 300] +05/11 12:05:48 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s: + episode_total: mean=165.82s, total=165.82s, count=1, min=165816.3ms, max=165816.3ms + sensor_polling: mean=370.4ms, total=111.13s, count=300, min=337.2ms, max=587.4ms + save_trajectories: mean=10.60s, total=10.60s, count=1, min=10603.0ms, max=10603.0ms + physics_step: mean=26.4ms, total=7.91s, count=300, min=16.9ms, max=42.3ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.7ms, max=3920.7ms + task_sampling: mean=523.2ms, total=523.2ms, count=1, min=523.2ms, max=523.2ms + task_specific_sample: mean=517.7ms, total=517.7ms, count=1, min=517.7ms, max=517.7ms + scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + mj_forward_sync: mean=745.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=30.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 12:05:49 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:05:49 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:05:49 INFO: [Worker 0] Worker 0 completed house 1: 6/6 successful episodes [pipeline.py: 1323] +05/11 12:05:49 INFO: [Worker 0] [PROFILE] House 1 complete: 6/6 successful, 6 episodes, total_time=1899.66s + House averages: + episode_total: mean=177.66s, total=1065.97s, count=6, min=165312.9ms, max=204378.0ms + sensor_polling: mean=373.2ms, total=671.85s, count=1800, min=321.3ms, max=659.7ms + save_trajectories: mean=10.89s, total=65.35s, count=6, min=10603.0ms, max=11195.3ms + physics_step: mean=25.8ms, total=46.45s, count=1800, min=16.9ms, max=81.1ms + save_batch_prep: mean=4.06s, total=24.36s, count=6, min=3879.0ms, max=4312.7ms + task_sampling: mean=1.50s, total=8.99s, count=6, min=453.2ms, max=6464.1ms + scene_load: mean=5.89s, total=5.89s, count=1, min=5890.8ms, max=5890.8ms + scene_env_create: mean=4.03s, total=4.03s, count=1, min=4027.2ms, max=4027.2ms + task_specific_sample: mean=512.0ms, total=3.07s, count=6, min=449.0ms, max=569.7ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1688.6ms, max=1688.6ms + compile_mujoco: mean=976.5ms, total=976.5ms, count=1, min=976.5ms, max=976.5ms + compile_xml_load: mean=603.3ms, total=603.3ms, count=1, min=603.3ms, max=603.3ms + scene_init: mean=113.4ms, total=113.4ms, count=1, min=113.4ms, max=113.4ms + compile_aux_objects: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + compile_aux_policy_objects: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + scene_asset_install: mean=61.4ms, total=61.4ms, count=1, min=61.4ms, max=61.4ms + asset_install_grasps: mean=45.3ms, total=45.3ms, count=1, min=45.3ms, max=45.3ms + compile_robot_add: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + scene_randomize: mean=2.6ms, total=15.3ms, count=6, min=1.0ms, max=3.7ms + asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + mj_forward_sync: mean=537.9us, total=3.2ms, count=6, min=0.5ms, max=0.7ms + policy_setup: mean=26.4us, total=0.2ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 12:05:49 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 12:05:49 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 6 episodes, total_time=1899.66s + Worker averages: + episode_total: mean=177.66s, total=1065.97s, count=6, min=165312.9ms, max=204378.0ms + sensor_polling: mean=373.2ms, total=671.85s, count=1800, min=321.3ms, max=659.7ms + save_trajectories: mean=10.89s, total=65.35s, count=6, min=10603.0ms, max=11195.3ms + physics_step: mean=25.8ms, total=46.45s, count=1800, min=16.9ms, max=81.1ms + save_batch_prep: mean=4.06s, total=24.36s, count=6, min=3879.0ms, max=4312.7ms + task_sampling: mean=1.50s, total=8.99s, count=6, min=453.2ms, max=6464.1ms + scene_load: mean=5.89s, total=5.89s, count=1, min=5890.8ms, max=5890.8ms + scene_env_create: mean=4.03s, total=4.03s, count=1, min=4027.2ms, max=4027.2ms + task_specific_sample: mean=512.0ms, total=3.07s, count=6, min=449.0ms, max=569.7ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1688.6ms, max=1688.6ms + compile_mujoco: mean=976.5ms, total=976.5ms, count=1, min=976.5ms, max=976.5ms + compile_xml_load: mean=603.3ms, total=603.3ms, count=1, min=603.3ms, max=603.3ms + scene_init: mean=113.4ms, total=113.4ms, count=1, min=113.4ms, max=113.4ms + compile_aux_objects: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + compile_aux_policy_objects: mean=68.7ms, total=68.7ms, count=1, min=68.7ms, max=68.7ms + scene_asset_install: mean=61.4ms, total=61.4ms, count=1, min=61.4ms, max=61.4ms + asset_install_grasps: mean=45.3ms, total=45.3ms, count=1, min=45.3ms, max=45.3ms + compile_robot_add: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + scene_randomize: mean=2.6ms, total=15.3ms, count=6, min=1.0ms, max=3.7ms + asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms + asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms + mj_forward_sync: mean=537.9us, total=3.2ms, count=6, min=0.5ms, max=0.7ms + policy_setup: mean=26.4us, total=0.2ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 12:05:51 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 12:05:52 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 12:05:52 INFO: Success count: 6, Total count: 6 [pipeline.py: 1491] +05/11 12:05:52 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 12:06:18 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_099 [pipeline.py: 1174] +05/11 12:06:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_099 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 12:06:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 12:06:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 12:06:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_099 [save_utils.py: 785] +05/11 12:06:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_099 in 14.83s (batch: 3.90s, save: 10.92s) [pipeline.py: 300] +05/11 12:06:33 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.39s: + episode_total: mean=193.49s, total=193.49s, count=1, min=193488.4ms, max=193488.4ms + sensor_polling: mean=443.7ms, total=133.10s, count=300, min=403.1ms, max=656.6ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10924.3ms, max=10924.3ms + physics_step: mean=26.4ms, total=7.92s, count=300, min=17.1ms, max=37.8ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.9ms, max=3901.9ms + task_sampling: mean=394.6ms, total=394.6ms, count=1, min=394.6ms, max=394.6ms + task_specific_sample: mean=390.6ms, total=390.6ms, count=1, min=390.6ms, max=390.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=457.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 12:06:35 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:06:35 WARNING: [Worker 0] No trajectory data to save for chunk_099 [pipeline.py: 234] +05/11 12:06:35 INFO: [Worker 0] Worker 0 completed house 1: 6/6 successful episodes [pipeline.py: 1323] +05/11 12:06:35 INFO: [Worker 0] [PROFILE] House 1 complete: 6/6 successful, 6 episodes, total_time=1957.41s + House averages: + episode_total: mean=185.12s, total=1110.73s, count=6, min=162242.5ms, max=204429.1ms + sensor_polling: mean=381.3ms, total=686.27s, count=1800, min=316.8ms, max=701.6ms + save_trajectories: mean=11.05s, total=66.29s, count=6, min=10713.8ms, max=11369.2ms + physics_step: mean=25.5ms, total=45.90s, count=1800, min=16.9ms, max=62.3ms + save_batch_prep: mean=4.10s, total=24.62s, count=6, min=3901.9ms, max=4268.9ms + task_sampling: mean=1.39s, total=8.33s, count=6, min=382.1ms, max=6084.4ms + scene_load: mean=5.47s, total=5.47s, count=1, min=5474.2ms, max=5474.2ms + scene_env_create: mean=3.95s, total=3.95s, count=1, min=3948.6ms, max=3948.6ms + task_specific_sample: mean=473.0ms, total=2.84s, count=6, min=378.0ms, max=607.5ms + scene_compile: mean=1.22s, total=1.22s, count=1, min=1219.5ms, max=1219.5ms + compile_mujoco: mean=923.7ms, total=923.7ms, count=1, min=923.7ms, max=923.7ms + compile_xml_load: mean=207.7ms, total=207.7ms, count=1, min=207.7ms, max=207.7ms + scene_asset_install: mean=191.5ms, total=191.5ms, count=1, min=191.5ms, max=191.5ms + asset_install_objects: mean=123.3ms, total=123.3ms, count=1, min=123.3ms, max=123.3ms + scene_init: mean=114.4ms, total=114.4ms, count=1, min=114.4ms, max=114.4ms + compile_aux_objects: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + compile_aux_policy_objects: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + asset_install_grasps: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms + scene_randomize: mean=2.5ms, total=14.9ms, count=6, min=1.1ms, max=2.8ms + compile_robot_add: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: mean=459.8us, total=2.8ms, count=6, min=0.5ms, max=0.5ms + policy_setup: mean=23.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 12:06:35 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 12:06:35 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 6 episodes, total_time=1957.41s + Worker averages: + episode_total: mean=185.12s, total=1110.73s, count=6, min=162242.5ms, max=204429.1ms + sensor_polling: mean=381.3ms, total=686.27s, count=1800, min=316.8ms, max=701.6ms + save_trajectories: mean=11.05s, total=66.29s, count=6, min=10713.8ms, max=11369.2ms + physics_step: mean=25.5ms, total=45.90s, count=1800, min=16.9ms, max=62.3ms + save_batch_prep: mean=4.10s, total=24.62s, count=6, min=3901.9ms, max=4268.9ms + task_sampling: mean=1.39s, total=8.33s, count=6, min=382.1ms, max=6084.4ms + scene_load: mean=5.47s, total=5.47s, count=1, min=5474.2ms, max=5474.2ms + scene_env_create: mean=3.95s, total=3.95s, count=1, min=3948.6ms, max=3948.6ms + task_specific_sample: mean=473.0ms, total=2.84s, count=6, min=378.0ms, max=607.5ms + scene_compile: mean=1.22s, total=1.22s, count=1, min=1219.5ms, max=1219.5ms + compile_mujoco: mean=923.7ms, total=923.7ms, count=1, min=923.7ms, max=923.7ms + compile_xml_load: mean=207.7ms, total=207.7ms, count=1, min=207.7ms, max=207.7ms + scene_asset_install: mean=191.5ms, total=191.5ms, count=1, min=191.5ms, max=191.5ms + asset_install_objects: mean=123.3ms, total=123.3ms, count=1, min=123.3ms, max=123.3ms + scene_init: mean=114.4ms, total=114.4ms, count=1, min=114.4ms, max=114.4ms + compile_aux_objects: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + compile_aux_policy_objects: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + asset_install_grasps: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms + scene_randomize: mean=2.5ms, total=14.9ms, count=6, min=1.1ms, max=2.8ms + compile_robot_add: mean=13.3ms, total=13.3ms, count=1, min=13.3ms, max=13.3ms + asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: 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'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 12:58:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 12:58:22 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 12:58:22 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 12:58:22 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 12:58:22 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 12:58:22 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 12:58:22 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_100'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40004, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 12:58:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 12:58:22 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 12:58:22 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 12:58:22 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 12:58:22 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 12:58:24 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 12:58:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 12:58:24 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 12:58:24 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_100'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40002, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 12:58:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 12:58:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 12:58:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 12:58:24 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 12:58:25 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 12:58:25 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 12:58:25 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 12:58:25 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 12:58:25 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 12:58:25 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 12:58:25 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 12:58:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:58:25 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 12:58:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:58:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:58:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:58:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:58:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062053m [env.py: 870] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:58:25 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 12:58:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:58:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:58:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045917m [env.py: 870] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:58:25 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74743801 0.530098 0.06205348] yaw=-172.2deg [env.py: 1019] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84271523 0.06536922 0.06205348] yaw=152.6deg [env.py: 1019] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99937836 0.15531204 0.0459169 ] yaw=159.4deg [env.py: 1019] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83468439 0.15604762 0.06205348] yaw=148.5deg [env.py: 1019] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:58:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=21.2ms, retries=81.9ms, total=103.1ms [env.py: 1075] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.530, 0.062) [env.py: 1079] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.2 deg [env.py: 1082] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:25 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 12:58:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 12:58:25 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 12:58:25 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_100'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40001, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83982773 0.58297318 0.0459169 ] yaw=-162.0deg [env.py: 1019] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:58:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/11 12:58:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 12:58:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7330413 0.30895219 0.0459169 ] yaw=169.5deg [env.py: 1019] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:58:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=193.4ms, total=214.7ms [env.py: 1075] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.155, 0.046) [env.py: 1079] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.4 deg [env.py: 1082] +05/11 12:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m [env.py: 1086] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:58:26 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 12:58:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:58:26 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 12:58:26 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 12:58:26 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 12:58:26 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 12:58:26 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 12:58:26 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 12:58:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:58:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:58:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:58:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:58:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063773m [env.py: 870] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:58:26 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96559091 1.15363536 0.06377305] yaw=-138.9deg [env.py: 1019] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8445041 0.09740476 0.06377305] yaw=156.8deg [env.py: 1019] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:58:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.0ms, retries=172.2ms, total=193.1ms [env.py: 1075] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 1.154, 0.064) [env.py: 1079] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.9 deg [env.py: 1082] +05/11 12:58:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:58:27 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 12:58:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 12:58:28 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 12:58:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 12:58:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 12:58:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 12:58:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 12:58:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 12:58:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 12:58:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060302m [env.py: 870] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 12:58:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10443879 1.10512503 0.06030242] yaw=-127.3deg [env.py: 1019] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93467355 0.97022371 0.06030242] yaw=-151.8deg [env.py: 1019] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95875498 0.69482001 0.06030242] yaw=-162.1deg [env.py: 1019] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 12:58:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=191.4ms, total=212.5ms [env.py: 1075] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 1.105, 0.060) [env.py: 1079] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.3 deg [env.py: 1082] +05/11 12:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 12:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 12:58:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 12:58:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 12:58:59 INFO: [Worker 0] Warmed up parallel IK solver in 33.096s [base_object_manipulation_planner_policy.py: 377] +05/11 12:58:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:58:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:58:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:58:59 INFO: [Worker 0] Warmed up parallel IK solver in 33.800s [base_object_manipulation_planner_policy.py: 377] +05/11 12:58:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:58:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:59:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:59:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.736s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:59:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.352[m] 96.280[deg] [grasp_sample.py: 539] +05/11 12:59:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:59:00 INFO: [Worker 0] Warmed up parallel IK solver in 33.536s [base_object_manipulation_planner_policy.py: 377] +05/11 12:59:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:59:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:59:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:59:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 88.423[deg] [grasp_sample.py: 539] +05/11 12:59:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:59:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:59:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:59:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:59:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:59:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:59:02 INFO: [Worker 0] Warmed up parallel IK solver in 33.424s [base_object_manipulation_planner_policy.py: 377] +05/11 12:59:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 12:59:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 12:59:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 12:59:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.526s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:59:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.564[m] 87.141[deg] [grasp_sample.py: 539] +05/11 12:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:59:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.020s, found feasible grasp: True [grasp_sample.py: 500] +05/11 12:59:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 89.822[deg] [grasp_sample.py: 539] +05/11 12:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 12:59:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:59:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 12:59:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:59:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 12:59:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:59:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:59:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:59:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 12:59:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 12:59:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 13:00:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:00:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:00:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:00:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:00:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.632s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:00:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.628[deg] [grasp_sample.py: 539] +05/11 13:00:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:00:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:00:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:00:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:00:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:00:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:00:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:00:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.584s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:00:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.311[deg] [grasp_sample.py: 539] +05/11 13:00:17 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:00:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:00:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:00:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:00:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:00:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:00:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:00:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012783m [env.py: 870] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:00:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88457804 0.56952388 0.01278308] yaw=-164.3deg [env.py: 1019] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.17863296 1.13315395 0.01278308] yaw=-138.6deg [env.py: 1019] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90918032 0.74733665 0.01278308] yaw=-151.3deg [env.py: 1019] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:00:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms [env.py: 1075] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.570, 0.013) [env.py: 1079] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg [env.py: 1082] +05/11 13:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:00:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:00:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:00:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 13:00:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:00:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:00:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:00:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:00:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.363[m] 84.111[deg] [grasp_sample.py: 539] +05/11 13:00:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:00:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:00:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:00:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:00:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:00:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:00:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:00:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:00:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:00:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:00:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:00:55 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:00:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:00:59 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:01:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 5.069s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:01:00 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.225[m] 3.148[deg] [grasp_sample.py: 539] +05/11 13:01:02 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:01:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:01:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:01:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:01:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:01:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:01:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:01:03 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] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021217m [env.py: 870] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:01:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87395171 0.87546419 0.0212167 ] yaw=-146.7deg [env.py: 1019] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72683116 -0.00568131 0.0212167 ] yaw=143.5deg [env.py: 1019] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89527849 1.20509826 0.0212167 ] yaw=-148.0deg [env.py: 1019] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:01:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.0ms, total=146.0ms [env.py: 1075] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.875, 0.021) [env.py: 1079] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg [env.py: 1082] +05/11 13:01:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:01:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:01:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:01:03 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:01:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 13:01:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:01:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:01:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:01:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.784s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:01:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 82.284[deg] [grasp_sample.py: 539] +05/11 13:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:01:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:01:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:01:22 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:01:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:01:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:01:25 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:01:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:01:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:01:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:01:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:01:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.43s (batch: 4.11s, save: 10.32s) [pipeline.py: 300] +05/11 13:01:37 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.03s: + episode_total: mean=195.40s, total=195.40s, count=1, min=195400.0ms, max=195400.0ms + sensor_polling: mean=352.4ms, total=105.73s, count=300, min=321.9ms, max=499.4ms + save_trajectories: mean=10.32s, total=10.32s, count=1, min=10316.8ms, max=10316.8ms + physics_step: mean=22.5ms, total=6.74s, count=300, min=19.7ms, max=30.0ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4112.7ms, max=4112.7ms + task_sampling: mean=4.03s, total=4.03s, count=1, min=4029.2ms, max=4029.2ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3604.3ms, max=3604.3ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2181.9ms, max=2181.9ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1253.0ms, max=1253.0ms + compile_mujoco: mean=658.7ms, total=658.7ms, count=1, min=658.7ms, max=658.7ms + compile_xml_load: mean=505.2ms, total=505.2ms, count=1, min=505.2ms, max=505.2ms + task_specific_sample: mean=421.8ms, total=421.8ms, count=1, min=421.8ms, max=421.8ms + scene_init: mean=114.6ms, total=114.6ms, count=1, min=114.6ms, max=114.6ms + scene_asset_install: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + compile_robot_add: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=458.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:01:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:01:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:01:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:01:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:01:38 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] +05/11 13:01:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:01:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073813m [env.py: 870] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:01:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86615934 0.56825533 0.07381346] yaw=-165.6deg [env.py: 1019] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73967631 0.09261908 0.07381346] yaw=165.3deg [env.py: 1019] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87819743 0.83253711 0.07381346] yaw=-148.9deg [env.py: 1019] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:01:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.2ms, total=158.3ms [env.py: 1075] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.568, 0.074) [env.py: 1079] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.6 deg [env.py: 1082] +05/11 13:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:01:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:01:39 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:01:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 13:01:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:01:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:01:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:01:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.720s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:01:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 89.117[deg] [grasp_sample.py: 539] +05/11 13:01:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:01:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:01:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:01:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:01:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:01:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:01:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.98s (batch: 3.96s, save: 11.02s) [pipeline.py: 300] +05/11 13:01:41 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.22s: + episode_total: mean=197.75s, total=197.75s, count=1, min=197746.9ms, max=197746.9ms + sensor_polling: mean=352.2ms, total=105.66s, count=300, min=310.3ms, max=544.3ms + save_trajectories: mean=11.02s, total=11.02s, count=1, min=11020.3ms, max=11020.3ms + physics_step: mean=22.9ms, total=6.86s, count=300, min=17.0ms, max=32.5ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3955.8ms, max=3955.8ms + task_sampling: mean=3.22s, total=3.22s, count=1, min=3223.1ms, max=3223.1ms + scene_load: mean=2.72s, total=2.72s, count=1, min=2724.0ms, max=2724.0ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1730.1ms, max=1730.1ms + scene_compile: mean=825.9ms, total=825.9ms, count=1, min=825.9ms, max=825.9ms + compile_mujoco: mean=568.8ms, total=568.8ms, count=1, min=568.8ms, max=568.8ms + task_specific_sample: mean=496.4ms, total=496.4ms, count=1, min=496.4ms, max=496.4ms + compile_xml_load: mean=186.9ms, total=186.9ms, count=1, min=186.9ms, max=186.9ms + scene_init: mean=115.7ms, total=115.7ms, count=1, min=115.7ms, max=115.7ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_asset_install: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=443.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=41.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:01:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:01:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:01:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:01:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:01:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:01:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:01:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047588m [env.py: 870] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:01:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67381058 0.41409784 0.04758811] yaw=171.9deg [env.py: 1019] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.09140954 1.01562659 0.04758811] yaw=-142.3deg [env.py: 1019] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.75080022 0.30593674 0.04758811] yaw=160.7deg [env.py: 1019] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:01:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.0ms, total=181.1ms [env.py: 1075] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.414, 0.048) [env.py: 1079] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.9 deg [env.py: 1082] +05/11 13:01:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:01:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:01:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:01:43 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 13:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:01:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:01:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:01:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.180s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:01:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.544[m] 77.377[deg] [grasp_sample.py: 539] +05/11 13:01:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:01:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:01:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:01:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:01:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:01:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:01:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:02:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:02:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:02:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:02:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:02:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:02:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:02:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:02:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:02:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:02:42 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/11 13:02:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:02:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:02:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.71s (batch: 3.57s, save: 11.14s) [pipeline.py: 300] +05/11 13:02:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.44s: + episode_total: mean=137.26s, total=274.53s, count=2, min=115071.8ms, max=159455.3ms + sensor_polling: mean=359.8ms, total=165.16s, count=459, min=317.8ms, max=567.3ms + save_trajectories: mean=11.14s, total=11.14s, count=1, min=11139.8ms, max=11139.8ms + physics_step: mean=23.9ms, total=10.97s, count=459, min=17.5ms, max=33.0ms + task_sampling: mean=2.22s, total=4.44s, count=2, min=429.2ms, max=4011.6ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.1ms, max=3570.1ms + scene_load: mean=3.50s, total=3.50s, count=1, min=3499.5ms, max=3499.5ms + scene_env_create: mean=2.13s, total=2.13s, count=1, min=2130.1ms, max=2130.1ms + scene_compile: mean=1.20s, total=1.20s, count=1, min=1195.2ms, max=1195.2ms + task_specific_sample: mean=468.0ms, total=935.9ms, count=2, min=426.5ms, max=509.5ms + compile_mujoco: mean=703.2ms, total=703.2ms, count=1, min=703.2ms, max=703.2ms + compile_xml_load: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + scene_init: mean=123.2ms, total=123.2ms, count=1, min=123.2ms, max=123.2ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms + asset_install_grasps: mean=36.3ms, total=36.3ms, count=1, min=36.3ms, max=36.3ms + compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.2ms, max=1.4ms + mj_forward_sync: mean=454.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=30.5us, total=0.1ms, count=2, 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] +05/11 13:02:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:02:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:02:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:02:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:02:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:02:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087023m [env.py: 870] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:02:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70917229 0.10071258 0.087023 ] yaw=164.0deg [env.py: 1019] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67677105 0.68644695 0.087023 ] yaw=-168.1deg [env.py: 1019] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7157269 0.24949923 0.087023 ] yaw=177.5deg [env.py: 1019] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:02:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.1ms, total=89.1ms [env.py: 1075] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.709, 0.101, 0.087) [env.py: 1079] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.0 deg [env.py: 1082] +05/11 13:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:02:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:02:59 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:02:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 13:02:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:02:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:02:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:03:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.740s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:03:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.613[m] 87.751[deg] [grasp_sample.py: 539] +05/11 13:03:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:03:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:03:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:03:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:03:07 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:03:33 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:03:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:03:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:03:41 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:03:43 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:03:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:03:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:03:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.82s (batch: 4.22s, save: 11.60s) [pipeline.py: 300] +05/11 13:03:49 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.69s: + episode_total: mean=161.15s, total=322.30s, count=2, min=156310.3ms, max=165994.0ms + sensor_polling: mean=362.9ms, total=206.83s, count=570, min=297.3ms, max=674.9ms + physics_step: mean=23.1ms, total=13.19s, count=570, min=16.9ms, max=32.9ms + save_trajectories: mean=11.60s, total=11.60s, count=1, min=11603.9ms, max=11603.9ms + save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4218.2ms, max=4218.2ms + task_sampling: mean=1.84s, total=3.69s, count=2, min=422.4ms, max=3266.2ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2760.1ms, max=2760.1ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1672.0ms, max=1672.0ms + task_specific_sample: mean=461.7ms, total=923.3ms, count=2, min=419.8ms, max=503.5ms + scene_compile: mean=890.7ms, total=890.7ms, count=1, min=890.7ms, max=890.7ms + compile_mujoco: mean=606.7ms, total=606.7ms, count=1, min=606.7ms, max=606.7ms + compile_xml_load: mean=211.6ms, total=211.6ms, count=1, min=211.6ms, max=211.6ms + scene_init: mean=115.1ms, total=115.1ms, count=1, min=115.1ms, max=115.1ms + scene_asset_install: mean=82.1ms, total=82.1ms, count=1, min=82.1ms, max=82.1ms + compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms + compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms + asset_install_grasps: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms + asset_install_scene: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + compile_robot_add: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.2ms + mj_forward_sync: mean=447.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:03:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:03:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:03:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:03:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:03:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065565m [env.py: 870] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09865378 1.22309271 0.0655653 ] yaw=-126.8deg [env.py: 1019] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80289704 0.50266652 0.0655653 ] yaw=-179.9deg [env.py: 1019] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05962026 1.15073642 0.0655653 ] yaw=-126.9deg [env.py: 1019] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:03:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.3ms [env.py: 1075] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.099, 1.223, 0.066) [env.py: 1079] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.8 deg [env.py: 1082] +05/11 13:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:03:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:03:51 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:03:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 13:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:03:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:03:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:03:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.504s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:03:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 96.396[deg] [grasp_sample.py: 539] +05/11 13:03:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:03:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:03:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:03:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:03:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:03:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:03:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:03:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:03:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093527m [env.py: 870] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:03:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63829436 0.52817259 0.09352669] yaw=-166.1deg [env.py: 1019] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79851066 0.56747151 0.09352669] yaw=-174.7deg [env.py: 1019] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81491487 0.37809828 0.09352669] yaw=173.7deg [env.py: 1019] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:03:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=402.7ms, total=402.7ms [env.py: 1075] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.638, 0.528, 0.094) [env.py: 1079] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg [env.py: 1082] +05/11 13:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:03:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:03:56 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:03:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 13:03:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:03:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:03:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:03:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:03:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.680[m] 92.992[deg] [grasp_sample.py: 539] +05/11 13:03:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:03:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:03:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:03:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:04:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:04:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:04:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:04:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:04:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:04:08 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:04:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:04:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:04:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:04:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:04:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.89s (batch: 4.40s, save: 10.49s) [pipeline.py: 300] +05/11 13:04:21 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s: + episode_total: mean=163.08s, total=163.08s, count=1, min=163076.4ms, max=163076.4ms + sensor_polling: mean=364.0ms, total=109.19s, count=300, min=302.3ms, max=642.4ms + save_trajectories: mean=10.49s, total=10.49s, count=1, min=10489.0ms, max=10489.0ms + physics_step: mean=23.4ms, total=7.01s, count=300, min=16.7ms, max=43.1ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.3ms, max=4398.3ms + task_sampling: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms + task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=456.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:04:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:04:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:04:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:04:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:04:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:04:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:04:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075995m [env.py: 870] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:04:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9057684 0.27279613 0.07599505] yaw=176.6deg [env.py: 1019] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9993785 0.76799577 0.07599505] yaw=-155.1deg [env.py: 1019] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96868908 0.93243667 0.07599505] yaw=-157.2deg [env.py: 1019] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:04:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.0ms, total=174.1ms [env.py: 1075] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.273, 0.076) [env.py: 1079] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg [env.py: 1082] +05/11 13:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:04:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:04:23 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:04:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 13:04:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:04:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:04:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:04:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:04:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:04:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.30s (batch: 4.20s, save: 11.09s) [pipeline.py: 300] +05/11 13:04:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.771s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:04:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.419[m] 92.944[deg] [grasp_sample.py: 539] +05/11 13:04:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:04:24 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.44s: + episode_total: mean=161.40s, total=161.40s, count=1, min=161403.6ms, max=161403.6ms + sensor_polling: mean=361.3ms, total=108.40s, count=300, min=329.4ms, max=655.3ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11092.7ms, max=11092.7ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=16.9ms, max=34.9ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4202.9ms, max=4202.9ms + task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms + task_specific_sample: mean=439.7ms, total=439.7ms, count=1, min=439.7ms, max=439.7ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=463.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:04:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:04:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:04:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:04:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:04:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:04:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:04:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:04:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:04:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:04:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057160m [env.py: 870] +05/11 13:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:04:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08450105 1.25365928 0.05716037] yaw=-137.4deg [env.py: 1019] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85527194 0.89366997 0.05716037] yaw=-149.4deg [env.py: 1019] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94809845 0.52368849 0.05716037] yaw=-169.7deg [env.py: 1019] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:04:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms [env.py: 1075] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.254, 0.057) [env.py: 1079] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.4 deg [env.py: 1082] +05/11 13:04:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/11 13:04:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:04:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:04:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:04:26 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:04:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 13:04:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:04:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:04:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.124s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:04:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.468s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:04:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.589[m] 86.622[deg] [grasp_sample.py: 539] +05/11 13:04:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:04:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:04:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:04:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:04:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:04:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:05:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:05:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:05:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:05:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.630s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:05:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.032[m] 0.324[deg] [grasp_sample.py: 539] +05/11 13:05:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:05:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:05:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:05:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:05:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:05:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:05:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/11 13:05:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:05:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:05:18 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:05:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:05:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:05:37 INFO: [Worker 0] Feasibility-checked 82 grasps in 22.632s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:05:37 INFO: [Worker 0] Feasible grasp found 184 (originally 69): w/ 0.258[m] 10.412[deg] [grasp_sample.py: 539] +05/11 13:05:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:05:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:05:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:05:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:05:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:05:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:05:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:05:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:05:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.579s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:05:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.417[deg] [grasp_sample.py: 539] +05/11 13:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:05:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:05:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:05:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:05:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 72 non-colliding grasps [grasp_sample.py: 465] +05/11 13:05:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:05:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:05:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.29s (batch: 3.55s, save: 10.75s) [pipeline.py: 300] +05/11 13:05:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:05:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:05:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:05:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:05:55 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] +05/11 13:05:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:05:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011201m [env.py: 870] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:05:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69036748 0.30924219 0.01120071] yaw=163.2deg [env.py: 1019] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69003484 0.63175226 0.01120071] yaw=-164.8deg [env.py: 1019] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84878656 0.88226736 0.01120071] yaw=-148.4deg [env.py: 1019] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:05:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.0ms, total=92.0ms [env.py: 1075] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.690, 0.309, 0.011) [env.py: 1079] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg [env.py: 1082] +05/11 13:05:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m [env.py: 1086] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:05:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:05:55 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:05:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 13:05:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:05:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:05:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:05:56 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.33s: + episode_total: mean=176.66s, total=176.66s, count=1, min=176660.6ms, max=176660.6ms + sensor_polling: mean=381.8ms, total=114.53s, count=300, min=329.4ms, max=667.4ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10746.7ms, max=10746.7ms + physics_step: mean=24.4ms, total=7.33s, count=300, min=15.6ms, max=46.4ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3547.2ms, max=3547.2ms + task_sampling: mean=326.6ms, total=326.6ms, count=1, min=326.6ms, max=326.6ms + task_specific_sample: mean=322.7ms, total=322.7ms, count=1, min=322.7ms, max=322.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=466.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:05:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.828s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:05:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.584[m] 92.069[deg] [grasp_sample.py: 539] +05/11 13:05:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:05:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:05:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:05:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:05:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:05:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:05:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014183m [env.py: 870] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:05:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97062435 0.19637208 0.01418311] yaw=169.8deg [env.py: 1019] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=385.8ms, total=385.9ms [env.py: 1075] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.196, 0.014) [env.py: 1079] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg [env.py: 1082] +05/11 13:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m [env.py: 1086] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:05:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:05:58 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:05:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/11 13:05:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:05:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:05:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:05:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:05:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.401[m] 94.769[deg] [grasp_sample.py: 539] +05/11 13:05:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:05:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:05:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:06:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:06:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:06:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:06:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:06:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:06:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.578[deg] [grasp_sample.py: 539] +05/11 13:06:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:06:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:06:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:06:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:06:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:06:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:06:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:06:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:06:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:06:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:06:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.245s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:06:43 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.959[deg] [grasp_sample.py: 539] +05/11 13:06:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:06:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:06:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:06:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:53 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 13:06:53 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.49s: + episode_total: mean=147.25s, total=147.25s, count=1, min=147245.5ms, max=147245.5ms + sensor_polling: mean=367.0ms, total=110.09s, count=300, min=332.8ms, max=608.9ms + physics_step: mean=23.5ms, total=7.04s, count=300, min=16.9ms, max=38.7ms + task_sampling: mean=486.9ms, total=486.9ms, count=1, min=486.9ms, max=486.9ms + task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=453.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:06:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:06:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:06:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:06:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:06:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083975m [env.py: 870] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77041704 0.3167533 0.08397478] yaw=164.9deg [env.py: 1019] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89927126 0.77850704 0.08397478] yaw=-149.9deg [env.py: 1019] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76598784 0.79654295 0.08397478] yaw=-154.4deg [env.py: 1019] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=134.7ms, total=134.8ms [env.py: 1075] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.317, 0.084) [env.py: 1079] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.9 deg [env.py: 1082] +05/11 13:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:06:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:06:54 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:06:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 13:06:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:06:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:06:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:06:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.185s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:06:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.523[m] 95.311[deg] [grasp_sample.py: 539] +05/11 13:06:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:06:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:06:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:06:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:13 INFO: [Worker 0] Feasibility-checked 72 grasps in 78.477s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:07:13 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 13:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:07:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:07:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:07:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:07:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:07:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:07:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030336m [env.py: 870] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:07:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76749708 0.51835945 0.03033608] yaw=-179.2deg [env.py: 1019] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.74659402 0.99077156 0.03033608] yaw=-147.0deg [env.py: 1019] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:07:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.5ms, total=201.6ms [env.py: 1075] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.518, 0.030) [env.py: 1079] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg [env.py: 1082] +05/11 13:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:07:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:07:15 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 13:07:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 13:07:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:07:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:07:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.726s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:07:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.473[m] 90.152[deg] [grasp_sample.py: 539] +05/11 13:07:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:07:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:07:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:07:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:07:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:07:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:07:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:07:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:07:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:07:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:07:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:07:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.570s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:07:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.966[deg] [grasp_sample.py: 539] +05/11 13:07:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:07:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:07:54 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:07:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:08:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:08:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:08:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:08:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:08:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:08:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:08:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:08:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:08:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.35s (batch: 3.95s, save: 10.40s) [pipeline.py: 300] +05/11 13:08:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.82s: + episode_total: mean=125.18s, total=250.35s, count=2, min=90968.3ms, max=159383.9ms + sensor_polling: mean=360.8ms, total=178.58s, count=495, min=307.4ms, max=617.0ms + physics_step: mean=24.8ms, total=12.29s, count=495, min=16.7ms, max=35.7ms + save_trajectories: mean=10.40s, total=10.40s, count=1, min=10404.3ms, max=10404.3ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3950.0ms, max=3950.0ms + task_sampling: mean=411.5ms, total=822.9ms, count=2, min=366.2ms, max=456.7ms + task_specific_sample: mean=407.9ms, total=815.7ms, count=2, min=362.9ms, max=452.9ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.5ms + mj_forward_sync: mean=453.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:08:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:08:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:08:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:08:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:08:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:08:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009397m [env.py: 870] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:08:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72300563 0.73624892 0.00939687] yaw=-174.2deg [env.py: 1019] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12390408 1.10951733 0.00939687] yaw=-124.2deg [env.py: 1019] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65296479 0.54716859 0.00939687] yaw=-181.3deg [env.py: 1019] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:08:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.7ms, total=102.7ms [env.py: 1075] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.723, 0.736, 0.009) [env.py: 1079] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg [env.py: 1082] +05/11 13:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:08:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:08:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 13:08:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 13:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:08:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:08:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:08:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:08:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:08:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 13:08:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.342s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:08:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 83.647[deg] [grasp_sample.py: 539] +05/11 13:08:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:08:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:08:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:08:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:08:40 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.340s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:08:40 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.050[m] 8.021[deg] [grasp_sample.py: 539] +05/11 13:08:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:08:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:45 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:08:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:08:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:08:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:08:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:08:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:08:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.554s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:08:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.777[deg] [grasp_sample.py: 539] +05/11 13:08:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:08:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:08:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:08:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:09:04 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:09:09 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:09:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:09:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:09:15 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:09:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:09:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:09:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:09:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.17s (batch: 3.63s, save: 11.54s) [pipeline.py: 300] +05/11 13:09:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.69s: + episode_total: mean=207.70s, total=207.70s, count=1, min=207702.1ms, max=207702.1ms + sensor_polling: mean=374.7ms, total=112.41s, count=300, min=327.7ms, max=624.0ms + save_trajectories: mean=11.54s, total=11.54s, count=1, min=11536.7ms, max=11536.7ms + physics_step: mean=24.8ms, total=7.44s, count=300, min=16.8ms, max=34.8ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3632.8ms, max=3632.8ms + task_sampling: mean=690.1ms, total=690.1ms, count=1, min=690.1ms, max=690.1ms + task_specific_sample: mean=685.2ms, total=685.2ms, count=1, min=685.2ms, max=685.2ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=617.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:09:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:09:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:09:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:09:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:09:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:09:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:09:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030611m [env.py: 870] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:09:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87962389 0.57655711 0.03061054] yaw=-170.0deg [env.py: 1019] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90308361 0.30712872 0.03061054] yaw=169.4deg [env.py: 1019] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89958512 0.34275391 0.03061054] yaw=169.0deg [env.py: 1019] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:09:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.5ms, total=161.5ms [env.py: 1075] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.577, 0.031) [env.py: 1079] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg [env.py: 1082] +05/11 13:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:09:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:09:27 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 13:09:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 13:09:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:09:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:09:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:09:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:09:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.373[m] 88.532[deg] [grasp_sample.py: 539] +05/11 13:09:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:09:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:09:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:09:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:09:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:09:31 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:09:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:09:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:09:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:09:43 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:09:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:09:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:09:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:09:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:09:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.96s (batch: 4.32s, save: 11.63s) [pipeline.py: 300] +05/11 13:09:48 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s: + episode_total: mean=173.47s, total=173.47s, count=1, min=173474.5ms, max=173474.5ms + sensor_polling: mean=357.6ms, total=107.28s, count=300, min=328.8ms, max=659.1ms + save_trajectories: mean=11.63s, total=11.63s, count=1, min=11633.9ms, max=11633.9ms + physics_step: mean=25.0ms, total=7.50s, count=300, min=15.1ms, max=42.2ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.7ms, max=4323.7ms + task_sampling: mean=393.7ms, total=393.7ms, count=1, min=393.7ms, max=393.7ms + task_specific_sample: mean=390.7ms, total=390.7ms, count=1, min=390.7ms, max=390.7ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=445.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:09:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:09:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:09:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:09:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:09:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:09:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:09:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097272m [env.py: 870] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:09:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82444099 0.10019001 0.09727164] yaw=161.7deg [env.py: 1019] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84854359 0.93884183 0.09727164] yaw=-149.2deg [env.py: 1019] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:09:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=181.8ms, total=181.8ms [env.py: 1075] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.100, 0.097) [env.py: 1079] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg [env.py: 1082] +05/11 13:09:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:09:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:09:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:09:49 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 13:09:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 13:09:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:09:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:09:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:09:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.925s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:09:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.502[m] 89.800[deg] [grasp_sample.py: 539] +05/11 13:09:52 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:09:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:09:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:09:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:09:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:09:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:09:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:09:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077269m [env.py: 870] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:09:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74051678 0.64129849 0.07726867] yaw=-173.7deg [env.py: 1019] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82317031 0.59069863 0.07726867] yaw=-170.5deg [env.py: 1019] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75699525 0.3248778 0.07726867] yaw=169.4deg [env.py: 1019] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:09:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.1ms [env.py: 1075] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.641, 0.077) [env.py: 1079] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.7 deg [env.py: 1082] +05/11 13:09:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:09:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:09:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:09:53 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 13:09:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 13:09:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:09:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:09:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:09:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:09:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 94.107[deg] [grasp_sample.py: 539] +05/11 13:09:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:09:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:09:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:09:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:09:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:09:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:09:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.88s (batch: 4.03s, save: 10.85s) [pipeline.py: 300] +05/11 13:09:58 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.50s: + episode_total: mean=121.51s, total=364.52s, count=3, min=3482.8ms, max=197653.3ms + sensor_polling: mean=368.1ms, total=170.44s, count=463, min=314.1ms, max=621.5ms + physics_step: mean=24.1ms, total=11.16s, count=463, min=15.6ms, max=34.6ms + save_trajectories: mean=10.85s, total=10.85s, count=1, min=10845.8ms, max=10845.8ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4030.9ms, max=4030.9ms + task_sampling: mean=500.8ms, total=1.50s, count=3, min=384.5ms, max=659.1ms + task_specific_sample: mean=497.4ms, total=1.49s, count=3, min=380.4ms, max=656.4ms + scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.1ms, max=2.8ms + mj_forward_sync: mean=455.7us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=18.3us, 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] +05/11 13:10:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:10:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:10:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:10:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:10:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:10:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:10:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029889m [env.py: 870] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:10:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74569759 0.08883373 0.02988929] yaw=164.5deg [env.py: 1019] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68507132 0.52854348 0.02988929] yaw=-172.9deg [env.py: 1019] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.1089854 1.12451564 0.02988929] yaw=-122.5deg [env.py: 1019] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:10:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.1ms, total=95.1ms [env.py: 1075] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.746, 0.089, 0.030) [env.py: 1079] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.5 deg [env.py: 1082] +05/11 13:10:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:10:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:10:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:10:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 13:10:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 13:10:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:10:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:10:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:10:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:10:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.208s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:10:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 80.414[deg] [grasp_sample.py: 539] +05/11 13:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:10:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:10:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:10:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:10:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:10:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:10:36 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:10:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:10:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:10:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:10:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:10:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:10:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:11:00 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:11:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:11:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:11:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:11:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:11:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.24s (batch: 3.34s, save: 10.90s) [pipeline.py: 300] +05/11 13:11:15 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.37s: + episode_total: mean=159.33s, total=159.33s, count=1, min=159329.4ms, max=159329.4ms + sensor_polling: mean=359.3ms, total=107.80s, count=300, min=326.1ms, max=659.7ms + save_trajectories: mean=10.90s, total=10.90s, count=1, min=10899.4ms, max=10899.4ms + physics_step: mean=23.0ms, total=6.91s, count=300, min=16.6ms, max=36.7ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3344.6ms, max=3344.6ms + task_sampling: mean=372.1ms, total=372.1ms, count=1, min=372.1ms, max=372.1ms + task_specific_sample: mean=369.0ms, total=369.0ms, count=1, min=369.0ms, max=369.0ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=456.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:11:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:11:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:11:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:11:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:11:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:11:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:11:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075551m [env.py: 870] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:11:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69635956 0.36897692 0.07555131] yaw=170.5deg [env.py: 1019] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8190656 0.46375115 0.07555131] yaw=175.5deg [env.py: 1019] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93084221 1.22240906 0.07555131] yaw=-137.9deg [env.py: 1019] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:11:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.4ms [env.py: 1075] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.369, 0.076) [env.py: 1079] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg [env.py: 1082] +05/11 13:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/11 13:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:11:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:11:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 13:11:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 13:11:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:11:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:11:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:11:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.797s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:11:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.535[m] 83.510[deg] [grasp_sample.py: 539] +05/11 13:11:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:11:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:11:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:11:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:11:30 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:11:53 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:11:54 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:11:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:11:54 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/11 13:11:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:12:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:12:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:12:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:12:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:12:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.87s (batch: 3.58s, save: 11.30s) [pipeline.py: 300] +05/11 13:12:09 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s: + episode_total: mean=163.12s, total=163.12s, count=1, min=163118.9ms, max=163118.9ms + sensor_polling: mean=372.0ms, total=110.12s, count=296, min=332.3ms, max=636.2ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11297.8ms, max=11297.8ms + physics_step: mean=25.2ms, total=7.47s, count=296, min=16.9ms, max=34.3ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3576.8ms, max=3576.8ms + task_sampling: mean=443.0ms, total=443.0ms, count=1, min=443.0ms, max=443.0ms + task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=459.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:12:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:12:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:12:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:12:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:12:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095034m [env.py: 870] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07435541 1.02292043 0.09503423] yaw=-129.0deg [env.py: 1019] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76830093 0.15279853 0.09503423] yaw=152.2deg [env.py: 1019] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79399065 0.81134786 0.09503423] yaw=-166.3deg [env.py: 1019] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.3ms [env.py: 1075] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 1.023, 0.095) [env.py: 1079] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.0 deg [env.py: 1082] +05/11 13:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:12:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:12:11 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 13:12:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 13:12:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:12:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:12:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:12:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.919s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:12:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 99.826[deg] [grasp_sample.py: 539] +05/11 13:12:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:12:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:12:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:12:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:12:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:12:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:12:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:12:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:12:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:12:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:12:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:12:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:12:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.96s (batch: 3.39s, save: 10.57s) [pipeline.py: 300] +05/11 13:12:31 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.88s: + episode_total: mean=80.42s, total=160.85s, count=2, min=2776.4ms, max=158071.0ms + sensor_polling: mean=361.7ms, total=108.51s, count=300, min=305.4ms, max=711.7ms + save_trajectories: mean=10.57s, total=10.57s, count=1, min=10565.2ms, max=10565.2ms + physics_step: mean=23.4ms, total=7.03s, count=300, min=17.2ms, max=31.2ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3389.8ms, max=3389.8ms + task_sampling: mean=440.7ms, total=881.4ms, count=2, min=407.4ms, max=474.0ms + task_specific_sample: mean=437.4ms, total=874.8ms, count=2, min=404.1ms, max=470.7ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.5ms, max=2.0ms + mj_forward_sync: mean=465.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:12:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:12:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:12:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:12:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:12:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:12:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:12:33 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] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047103m [env.py: 870] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:12:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81770679 0.87415343 0.04710305] yaw=-156.4deg [env.py: 1019] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75175226 0.36375841 0.04710305] yaw=177.7deg [env.py: 1019] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92673626 0.14816966 0.04710305] yaw=165.9deg [env.py: 1019] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:12:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=124.8ms, total=124.9ms [env.py: 1075] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.874, 0.047) [env.py: 1079] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg [env.py: 1082] +05/11 13:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:12:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:12:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:12:33 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 13:12:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 13:12:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:12:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:12:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:12:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.809s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:12:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 86.869[deg] [grasp_sample.py: 539] +05/11 13:12:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:12:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:12:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.54s (batch: 3.25s, save: 11.28s) [pipeline.py: 300] +05/11 13:12:39 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.37s: + episode_total: mean=159.30s, total=159.30s, count=1, min=159299.8ms, max=159299.8ms + sensor_polling: mean=361.3ms, total=108.39s, count=300, min=323.1ms, max=643.7ms + save_trajectories: mean=11.28s, total=11.28s, count=1, min=11283.4ms, max=11283.4ms + physics_step: mean=25.4ms, total=7.63s, count=300, min=16.8ms, max=35.2ms + save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3253.6ms, max=3253.6ms + task_sampling: mean=372.2ms, total=372.2ms, count=1, min=372.2ms, max=372.2ms + task_specific_sample: mean=368.1ms, total=368.1ms, count=1, min=368.1ms, max=368.1ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=503.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:12:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:12:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:12:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:12:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:12:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:12:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:12:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019678m [env.py: 870] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:12:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75527061 0.34165441 0.01967768] yaw=173.5deg [env.py: 1019] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09523257 1.0148603 0.01967768] yaw=-146.0deg [env.py: 1019] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74998699 0.83515159 0.01967768] yaw=-165.4deg [env.py: 1019] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:12:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.6ms, total=138.7ms [env.py: 1075] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.342, 0.020) [env.py: 1079] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.5 deg [env.py: 1082] +05/11 13:12:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:12:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:12:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:12:41 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 13:12:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/11 13:12:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:12:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:12:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:12:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:12:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.455[m] 80.077[deg] [grasp_sample.py: 539] +05/11 13:12:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:12:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:12:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:12:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:12:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:12:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:12:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:13:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:13:15 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:13:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:13:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:13:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:13:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:13:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:13:38 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:13:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:13:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:13:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:13:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:13:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.97s (batch: 3.42s, save: 10.55s) [pipeline.py: 300] +05/11 13:13:53 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s: + episode_total: mean=156.44s, total=156.44s, count=1, min=156444.0ms, max=156444.0ms + sensor_polling: mean=359.1ms, total=107.73s, count=300, min=327.1ms, max=636.9ms + save_trajectories: mean=10.55s, total=10.55s, count=1, min=10550.4ms, max=10550.4ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=16.6ms, max=50.1ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3416.6ms, max=3416.6ms + task_sampling: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms + task_specific_sample: mean=419.3ms, total=419.3ms, count=1, min=419.3ms, max=419.3ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=457.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.2us, 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] +05/11 13:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:13:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:13:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:13:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:13:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:13:54 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] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006101m [env.py: 870] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85046794 1.02248916 0.00610057] yaw=-136.4deg [env.py: 1019] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74258779 0.5115266 0.00610057] yaw=-181.3deg [env.py: 1019] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75510946 -0.00476845 0.00610057] yaw=149.8deg [env.py: 1019] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:13:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.8ms, total=160.9ms [env.py: 1075] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.850, 1.022, 0.006) [env.py: 1079] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.4 deg [env.py: 1082] +05/11 13:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:13:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:13:55 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 13:13:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 13:13:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:13:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:13:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:13:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.785s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:13:59 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.648[m] 93.618[deg] [grasp_sample.py: 539] +05/11 13:13:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:13:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:13:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:14:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:14:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:14:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:14:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:14:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:14:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:14:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.296s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:14:25 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.398[deg] [grasp_sample.py: 539] +05/11 13:14:26 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:14:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:14:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:14:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:14:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:14:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:14:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:14:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085488m [env.py: 870] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:14:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95721665 0.62479453 0.08548813] yaw=-176.4deg [env.py: 1019] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63143627 0.38455509 0.08548813] yaw=172.6deg [env.py: 1019] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7787398 0.77163343 0.08548813] yaw=-159.1deg [env.py: 1019] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:14:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=208.0ms [env.py: 1075] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.625, 0.085) [env.py: 1079] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.4 deg [env.py: 1082] +05/11 13:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m [env.py: 1086] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:14:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:14:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 13:14:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 13:14:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:14:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:14:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:14:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:14:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.319[m] 84.327[deg] [grasp_sample.py: 539] +05/11 13:14:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:14:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:14:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:14:40 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:14:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:14:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:14:54 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:14:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:15:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:15:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:15:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:15:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:15:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:15:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:15:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:15:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:15:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:15:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:15:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:15:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.44s (batch: 3.48s, save: 10.97s) [pipeline.py: 300] +05/11 13:15:19 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s: + episode_total: mean=166.16s, total=166.16s, count=1, min=166160.7ms, max=166160.7ms + sensor_polling: mean=387.9ms, total=116.37s, count=300, min=303.2ms, max=648.5ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10967.3ms, max=10967.3ms + physics_step: mean=25.0ms, total=7.51s, count=300, min=16.7ms, max=75.3ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3476.6ms, max=3476.6ms + task_sampling: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms + task_specific_sample: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=457.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:15:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:15:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:15:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:15:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:15:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:15:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029005m [env.py: 870] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:15:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81668719 0.82637218 0.02900542] yaw=-155.1deg [env.py: 1019] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78558334 0.29224196 0.02900542] yaw=167.8deg [env.py: 1019] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91931565 0.18855831 0.02900542] yaw=151.8deg [env.py: 1019] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:15:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=228.5ms, total=228.5ms [env.py: 1075] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.826, 0.029) [env.py: 1079] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg [env.py: 1082] +05/11 13:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:15:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:15:21 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 13:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 13:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:15:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:15:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:15:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:15:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 87.779[deg] [grasp_sample.py: 539] +05/11 13:15:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:15:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:15:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:15:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:15:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:15:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:15:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.56s (batch: 3.53s, save: 11.03s) [pipeline.py: 300] +05/11 13:15:32 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.51s: + episode_total: mean=171.86s, total=171.86s, count=1, min=171856.3ms, max=171856.3ms + sensor_polling: mean=382.1ms, total=114.63s, count=300, min=328.2ms, max=634.2ms + save_trajectories: mean=11.03s, total=11.03s, count=1, min=11031.6ms, max=11031.6ms + physics_step: mean=26.3ms, total=7.88s, count=300, min=21.5ms, max=34.0ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3527.4ms, max=3527.4ms + task_sampling: mean=505.5ms, total=505.5ms, count=1, min=505.5ms, max=505.5ms + task_specific_sample: mean=501.5ms, total=501.5ms, count=1, min=501.5ms, max=501.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=609.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:15:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:15:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:15:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072943m [env.py: 870] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05738327 1.19677424 0.07294276] yaw=-137.0deg [env.py: 1019] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77114164 0.89968147 0.07294276] yaw=-158.1deg [env.py: 1019] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81170166 0.22338528 0.07294276] yaw=161.2deg [env.py: 1019] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.8ms, total=182.9ms [env.py: 1075] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.057, 1.197, 0.073) [env.py: 1079] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg [env.py: 1082] +05/11 13:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:15:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:15:34 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 13:15:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 13:15:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:15:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:15:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:15:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.347s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:15:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.563[m] 93.967[deg] [grasp_sample.py: 539] +05/11 13:15:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:15:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:15:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:15:56 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:15:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:16:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:16:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:16:18 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:16:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:16:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:16:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:16:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:16:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:16:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:16:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:16:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:16:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.73s (batch: 3.27s, save: 10.47s) [pipeline.py: 300] +05/11 13:16:33 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s: + episode_total: mean=158.44s, total=158.44s, count=1, min=158439.5ms, max=158439.5ms + sensor_polling: mean=358.7ms, total=107.61s, count=300, min=326.3ms, max=656.0ms + save_trajectories: mean=10.47s, total=10.47s, count=1, min=10467.7ms, max=10467.7ms + physics_step: mean=23.2ms, total=6.97s, count=300, min=16.8ms, max=35.5ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3265.3ms, max=3265.3ms + task_sampling: mean=437.1ms, total=437.1ms, count=1, min=437.1ms, max=437.1ms + task_specific_sample: mean=433.4ms, total=433.4ms, count=1, min=433.4ms, max=433.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=460.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:16:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:16:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:16:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:16:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:16:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:16:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:16:34 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] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020785m [env.py: 870] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:16:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95791874 1.2075695 0.02078496] yaw=-129.0deg [env.py: 1019] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97567768 0.90451671 0.02078496] yaw=-142.6deg [env.py: 1019] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08642057 1.05582514 0.02078496] yaw=-144.1deg [env.py: 1019] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:16:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.0ms, total=260.0ms [env.py: 1075] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 1.208, 0.021) [env.py: 1079] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.0 deg [env.py: 1082] +05/11 13:16:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:16:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:16:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:16:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 13:16:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 13:16:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:16:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:16:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:16:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.362s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:16:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 88.333[deg] [grasp_sample.py: 539] +05/11 13:16:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:16:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:16:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:16:51 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:16:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:16:51 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/11 13:17:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:17:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:17:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.69s (batch: 3.80s, save: 9.89s) [pipeline.py: 300] +05/11 13:17:06 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.88s: + episode_total: mean=146.72s, total=293.44s, count=2, min=135809.4ms, max=157633.9ms + sensor_polling: mean=372.9ms, total=217.01s, count=582, min=321.6ms, max=693.5ms + physics_step: mean=24.1ms, total=14.03s, count=582, min=17.2ms, max=35.8ms + save_trajectories: mean=9.89s, total=9.89s, count=1, min=9893.1ms, max=9893.1ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.0ms, max=3795.0ms + task_sampling: mean=439.1ms, total=878.2ms, count=2, min=390.0ms, max=488.2ms + task_specific_sample: mean=435.6ms, total=871.1ms, count=2, min=386.2ms, max=484.9ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms + mj_forward_sync: mean=458.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=20.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:17:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:17:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:17:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:17:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:17:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:17:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:17:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043056m [env.py: 870] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:17:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99044218 0.91752739 0.04305586] yaw=-147.3deg [env.py: 1019] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81072565 0.64397837 0.04305586] yaw=-168.9deg [env.py: 1019] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9017411 0.85547959 0.04305586] yaw=-150.4deg [env.py: 1019] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:17:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=157.2ms, total=157.2ms [env.py: 1075] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.918, 0.043) [env.py: 1079] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg [env.py: 1082] +05/11 13:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:17:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:17:08 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 13:17:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/11 13:17:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:17:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:17:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:17:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:17:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 90.749[deg] [grasp_sample.py: 539] +05/11 13:17:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:17:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:17:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:20 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:17:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:17:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:17:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:17:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.133s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:17:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.285[deg] [grasp_sample.py: 539] +05/11 13:17:24 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:17:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:17:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:17:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:17:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:17:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:17:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:17:26 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] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099588m [env.py: 870] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:17:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81813273 0.1935643 0.09958802] yaw=161.9deg [env.py: 1019] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85172875 0.48259299 0.09958802] yaw=-169.4deg [env.py: 1019] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8153012 0.90535684 0.09958802] yaw=-154.8deg [env.py: 1019] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:17:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms [env.py: 1075] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.194, 0.100) [env.py: 1079] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg [env.py: 1082] +05/11 13:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m [env.py: 1086] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:17:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:17:26 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 13:17:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 13:17:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:17:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:17:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:17:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.443s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:17:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.512[m] 88.131[deg] [grasp_sample.py: 539] +05/11 13:17:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:17:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:17:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:17:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:17:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:17:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:17:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:17:43 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:17:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:17:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:17:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:17:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:17:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:17:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:17:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.16s (batch: 3.48s, save: 10.68s) [pipeline.py: 300] +05/11 13:17:58 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.55s: + episode_total: mean=157.91s, total=157.91s, count=1, min=157908.8ms, max=157908.8ms + sensor_polling: mean=363.3ms, total=108.99s, count=300, min=309.8ms, max=655.8ms + save_trajectories: mean=10.68s, total=10.68s, count=1, min=10682.2ms, max=10682.2ms + physics_step: mean=23.9ms, total=7.18s, count=300, min=16.8ms, max=32.8ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3482.7ms, max=3482.7ms + task_sampling: mean=553.3ms, total=553.3ms, count=1, min=553.3ms, max=553.3ms + task_specific_sample: mean=549.0ms, total=549.0ms, count=1, min=549.0ms, max=549.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=470.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=36.2us, 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] +05/11 13:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:17:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:17:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:17:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:17:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088910m [env.py: 870] +05/11 13:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8777137 0.61939624 0.08890954] yaw=-177.2deg [env.py: 1019] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85968276 1.04904456 0.08890954] yaw=-155.3deg [env.py: 1019] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.2ms, total=191.3ms [env.py: 1075] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.619, 0.089) [env.py: 1079] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg [env.py: 1082] +05/11 13:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/11 13:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:18:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:18:00 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 13:18:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 13:18:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:18:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:18:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:18:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.843s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:18:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 86.773[deg] [grasp_sample.py: 539] +05/11 13:18:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:18:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:18:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:18:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:18:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:18:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:18:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:18:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 5.020s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:18:23 INFO: [Worker 0] Feasible grasp found 130 (originally 15): w/ 0.141[m] 14.333[deg] [grasp_sample.py: 539] +05/11 13:18:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:18:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:18:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:18:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:18:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:18:57 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 13:18:57 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.56s: + episode_total: mean=143.51s, total=143.51s, count=1, min=143509.2ms, max=143509.2ms + sensor_polling: mean=359.1ms, total=107.74s, count=300, min=300.5ms, max=633.9ms + physics_step: mean=23.2ms, total=6.97s, count=300, min=21.3ms, max=33.0ms + task_sampling: mean=561.2ms, total=561.2ms, count=1, min=561.2ms, max=561.2ms + task_specific_sample: mean=557.0ms, total=557.0ms, count=1, min=557.0ms, max=557.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=469.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.2us, 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] +05/11 13:18:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:18:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:18:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:18:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:18:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:18:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:18:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035366m [env.py: 870] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:18:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6342455 0.61798764 0.03536615] yaw=-162.8deg [env.py: 1019] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86770438 1.17442232 0.03536615] yaw=-132.2deg [env.py: 1019] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:18:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=192.8ms, total=192.9ms [env.py: 1075] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.634, 0.618, 0.035) [env.py: 1079] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg [env.py: 1082] +05/11 13:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:18:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:18:59 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 13:19:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 13:19:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:19:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:19:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:19:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.011s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:19:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.599[m] 78.132[deg] [grasp_sample.py: 539] +05/11 13:19:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:19:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:19:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:19:04 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:19:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:19:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:19:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:19:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:19:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:19:17 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.638s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:19:17 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.186[deg] [grasp_sample.py: 539] +05/11 13:19:18 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:19:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:19:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:19:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:19:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:19:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:19:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:19:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080721m [env.py: 870] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:19:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90541892 0.06145271 0.08072138] yaw=147.1deg [env.py: 1019] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96063998 1.1359754 0.08072138] yaw=-145.7deg [env.py: 1019] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77125263 0.65161375 0.08072138] yaw=-159.9deg [env.py: 1019] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:19:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.8ms, total=159.9ms [env.py: 1075] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.061, 0.081) [env.py: 1079] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.1 deg [env.py: 1082] +05/11 13:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:19:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:19:20 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 13:19:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 13:19:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:19:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:19:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:19:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.893s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:19:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.439[m] 89.430[deg] [grasp_sample.py: 539] +05/11 13:19:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:19:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:19:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:19:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:19:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:19:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:19:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:19:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:19:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:19:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.94s (batch: 3.87s, save: 11.07s) [pipeline.py: 300] +05/11 13:19:45 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s: + episode_total: mean=157.50s, total=157.50s, count=1, min=157495.5ms, max=157495.5ms + sensor_polling: mean=354.3ms, total=106.29s, count=300, min=324.3ms, max=669.0ms + save_trajectories: mean=11.07s, total=11.07s, count=1, min=11073.8ms, max=11073.8ms + physics_step: mean=23.4ms, total=7.02s, count=300, min=16.8ms, max=74.4ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3868.7ms, max=3868.7ms + task_sampling: mean=442.8ms, total=442.8ms, count=1, min=442.8ms, max=442.8ms + task_specific_sample: mean=439.0ms, total=439.0ms, count=1, min=439.0ms, max=439.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=463.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=26.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:19:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:19:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:19:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:19:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:19:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:19:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:19:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:19:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056612m [env.py: 870] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:19:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00073974 0.16156589 0.05661238] yaw=159.4deg [env.py: 1019] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91607549 0.28274915 0.05661238] yaw=162.6deg [env.py: 1019] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97510028 0.10059766 0.05661238] yaw=161.1deg [env.py: 1019] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:19:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.5ms [env.py: 1075] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.162, 0.057) [env.py: 1079] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.4 deg [env.py: 1082] +05/11 13:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m [env.py: 1086] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:19:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:19:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 13:19:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 13:19:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:19:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:19:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:19:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:19:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.354[m] 92.858[deg] [grasp_sample.py: 539] +05/11 13:19:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:19:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:19:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:19:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:19:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:19:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:19:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:20:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:20:06 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:20:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:20:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:20:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:20:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:20:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:20:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:20:30 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/11 13:20:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:20:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:20:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.80s (batch: 3.27s, save: 10.53s) [pipeline.py: 300] +05/11 13:20:44 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s: + episode_total: mean=164.45s, total=164.45s, count=1, min=164450.0ms, max=164450.0ms + sensor_polling: mean=383.7ms, total=112.05s, count=292, min=330.2ms, max=705.1ms + save_trajectories: mean=10.53s, total=10.53s, count=1, min=10531.5ms, max=10531.5ms + physics_step: mean=27.0ms, total=7.89s, count=292, min=18.7ms, max=40.0ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3271.4ms, max=3271.4ms + task_sampling: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms + task_specific_sample: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=453.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:20:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:20:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:20:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:20:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:20:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:20:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:20:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088750m [env.py: 870] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:20:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81626741 0.10608835 0.08874995] yaw=156.1deg [env.py: 1019] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87917635 0.76676511 0.08874995] yaw=-171.4deg [env.py: 1019] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90184546 0.21754912 0.08874995] yaw=157.1deg [env.py: 1019] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:20:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.8ms, total=156.9ms [env.py: 1075] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.106, 0.089) [env.py: 1079] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.1 deg [env.py: 1082] +05/11 13:20:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:20:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:20:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:20:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 13:20:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/11 13:20:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:20:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:20:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:20:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.760s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:20:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.539[m] 97.005[deg] [grasp_sample.py: 539] +05/11 13:20:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:20:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:20:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:20:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:20:59 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:21:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:21:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:21:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:21:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:21:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.534s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:21:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.189[deg] [grasp_sample.py: 539] +05/11 13:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:21:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:21:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:21:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:21:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:21:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:21:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.662s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:21:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.638[deg] [grasp_sample.py: 539] +05/11 13:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:17 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:21:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:21:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:21:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:21:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:21:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:21:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024671m [env.py: 870] +05/11 13:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:21:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96294893 0.62445452 0.02467057] yaw=-175.1deg [env.py: 1019] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.63979549 0.60622271 0.02467057] yaw=-174.7deg [env.py: 1019] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89296688 0.43001121 0.02467057] yaw=167.7deg [env.py: 1019] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:21:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=443.9ms, total=444.0ms [env.py: 1075] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.963, 0.624, 0.025) [env.py: 1079] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.1 deg [env.py: 1082] +05/11 13:21:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m [env.py: 1086] +05/11 13:21:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:21:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:21:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:21:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:21:19 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 13:21:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 13:21:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:21:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:21:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.715s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:21:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 96.430[deg] [grasp_sample.py: 539] +05/11 13:21:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:21:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:21:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:21:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:21:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:21:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:21:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:21:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:21:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.617s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:21:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.188[deg] [grasp_sample.py: 539] +05/11 13:21:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:21:25 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:21:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:21:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:21:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:21:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:21:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:21:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:21:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:21:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:21:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.555s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:21:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.188[deg] [grasp_sample.py: 539] +05/11 13:21:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:21:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:21:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:21:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:21:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:21:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.81s (batch: 3.98s, save: 10.83s) [pipeline.py: 300] +05/11 13:21:40 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.46s: + episode_total: mean=161.19s, total=161.19s, count=1, min=161191.3ms, max=161191.3ms + sensor_polling: mean=362.2ms, total=108.67s, count=300, min=310.9ms, max=611.1ms + save_trajectories: mean=10.83s, total=10.83s, count=1, min=10829.4ms, max=10829.4ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=17.2ms, max=40.3ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3983.2ms, max=3983.2ms + task_sampling: mean=460.2ms, total=460.2ms, count=1, min=460.2ms, max=460.2ms + task_specific_sample: mean=457.2ms, total=457.2ms, count=1, min=457.2ms, max=457.2ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=448.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:21:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:21:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:21:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:21:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:21:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:21:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034867m [env.py: 870] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:21:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97254679 0.84836932 0.03486687] yaw=-155.4deg [env.py: 1019] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78592372 0.20055928 0.03486687] yaw=156.3deg [env.py: 1019] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67689931 0.1356256 0.03486687] yaw=153.7deg [env.py: 1019] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.7ms, total=113.7ms [env.py: 1075] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.848, 0.035) [env.py: 1079] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg [env.py: 1082] +05/11 13:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:21:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:21:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 13:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 13:21:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:21:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:21:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:21:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.901s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:21:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 84.990[deg] [grasp_sample.py: 539] +05/11 13:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:21:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:21:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:21:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:21:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 13:21:52 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:21:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:21:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:22:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:22:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:22:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:22:16 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/11 13:22:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:22:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:22:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:22:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:22:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 12.36s (batch: 3.61s, save: 8.75s) [pipeline.py: 300] +05/11 13:22:29 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.26s: + episode_total: mean=137.35s, total=412.06s, count=3, min=110814.1ms, max=188675.8ms + sensor_polling: mean=366.5ms, total=275.24s, count=751, min=314.6ms, max=753.2ms + physics_step: mean=23.9ms, total=17.97s, count=751, min=14.6ms, max=37.3ms + save_trajectories: mean=8.75s, total=8.75s, count=1, min=8751.3ms, max=8751.3ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3605.6ms, max=3605.6ms + task_sampling: mean=421.2ms, total=1.26s, count=3, min=373.3ms, max=462.4ms + task_specific_sample: mean=417.8ms, total=1.25s, count=3, min=370.2ms, max=458.8ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.3ms, max=2.2ms + mj_forward_sync: mean=456.7us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=16.9us, 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] +05/11 13:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:22:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:22:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:22:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:22:30 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] +05/11 13:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075711m [env.py: 870] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94506399 0.40525204 0.07571083] yaw=172.2deg [env.py: 1019] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75550721 0.88003386 0.07571083] yaw=-155.8deg [env.py: 1019] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91358188 0.3830459 0.07571083] yaw=184.2deg [env.py: 1019] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.8ms, total=145.8ms [env.py: 1075] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.405, 0.076) [env.py: 1079] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.2 deg [env.py: 1082] +05/11 13:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m [env.py: 1086] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:22:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:22:30 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 13:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 13:22:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:22:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:22:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:22:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:22:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.310[m] 92.156[deg] [grasp_sample.py: 539] +05/11 13:22:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:22:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:22:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:22:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:22:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:22:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:22:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:22:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:22:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:22:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:22:51 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:22:51 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.447[deg] [grasp_sample.py: 539] +05/11 13:22:53 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:22:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:22:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:22:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:22:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:22:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:22:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:22:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089785m [env.py: 870] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:22:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61365683 0.57365886 0.08978479] yaw=-182.1deg [env.py: 1019] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68246315 0.22497725 0.08978479] yaw=158.3deg [env.py: 1019] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9837094 0.82703937 0.08978479] yaw=-154.8deg [env.py: 1019] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:22:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.3ms, total=116.4ms [env.py: 1075] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.614, 0.574, 0.090) [env.py: 1079] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.1 deg [env.py: 1082] +05/11 13:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:22:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:22:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:22:55 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 13:22:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 13:22:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:22:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:22:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:22:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.378s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:22:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.669[m] 92.448[deg] [grasp_sample.py: 539] +05/11 13:22:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:22:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:22:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:22:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:23:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:23:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:23:17 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:23:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:23:41 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/11 13:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:23:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:23:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:23:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:23:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:23:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:23:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.571s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:23:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.734[deg] [grasp_sample.py: 539] +05/11 13:23:47 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:23:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:23:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:23:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:23:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:23:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:23:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:23:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:23:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001573m [env.py: 870] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:23:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74000072 0.45182737 0.00157309] yaw=185.0deg [env.py: 1019] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95678544 0.91710957 0.00157309] yaw=-157.7deg [env.py: 1019] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84884174 0.37913618 0.00157309] yaw=171.5deg [env.py: 1019] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:23:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.4ms, total=93.4ms [env.py: 1075] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.740, 0.452, 0.002) [env.py: 1079] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.0 deg [env.py: 1082] +05/11 13:23:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:23:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:23:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:23:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 13:23:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 13:23:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:23:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:23:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:23:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.733s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:23:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 88.690[deg] [grasp_sample.py: 539] +05/11 13:23:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:23:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:23:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:23:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:23:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:23:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:23:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.99s (batch: 3.80s, save: 11.19s) [pipeline.py: 300] +05/11 13:23:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:23:56 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.19s: + episode_total: mean=124.43s, total=248.86s, count=2, min=91147.2ms, max=157717.7ms + sensor_polling: mean=368.0ms, total=171.14s, count=465, min=330.0ms, max=719.3ms + save_trajectories: mean=11.19s, total=11.19s, count=1, min=11185.2ms, max=11185.2ms + physics_step: mean=23.6ms, total=10.96s, count=465, min=16.9ms, max=32.0ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3802.7ms, max=3802.7ms + task_sampling: mean=596.3ms, total=1.19s, count=2, min=479.7ms, max=712.9ms + task_specific_sample: mean=592.7ms, total=1.19s, count=2, min=475.6ms, max=709.7ms + scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=469.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:23:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:23:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:23:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:23:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:23:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:23:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:23:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091722m [env.py: 870] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:23:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05462758 0.94829676 0.09172228] yaw=-152.1deg [env.py: 1019] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94790262 0.78842046 0.09172228] yaw=-146.5deg [env.py: 1019] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85487573 0.94429183 0.09172228] yaw=-148.4deg [env.py: 1019] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:23:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.1ms, total=167.1ms [env.py: 1075] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 0.948, 0.092) [env.py: 1079] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg [env.py: 1082] +05/11 13:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m [env.py: 1086] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:23:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:23:58 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 13:23:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/11 13:23:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:23:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:23:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:23:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:23:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:23:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 90.501[deg] [grasp_sample.py: 539] +05/11 13:23:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:24:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:24:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:24:07 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:24:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:24:07 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/11 13:24:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:24:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:24:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.63s (batch: 3.34s, save: 10.30s) [pipeline.py: 300] +05/11 13:24:21 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.40s: + episode_total: mean=159.77s, total=159.77s, count=1, min=159765.4ms, max=159765.4ms + sensor_polling: mean=372.2ms, total=110.17s, count=296, min=322.4ms, max=723.2ms + save_trajectories: mean=10.30s, total=10.30s, count=1, min=10296.4ms, max=10296.4ms + physics_step: mean=24.2ms, total=7.18s, count=296, min=16.9ms, max=35.0ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3336.4ms, max=3336.4ms + task_sampling: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms + task_specific_sample: mean=395.9ms, total=395.9ms, count=1, min=395.9ms, max=395.9ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=456.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:24:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:24:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:24:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:24:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:24:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:24:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:24:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039871m [env.py: 870] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:24:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89299212 0.1513322 0.03987147] yaw=168.9deg [env.py: 1019] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86022057 0.0790071 0.03987147] yaw=159.3deg [env.py: 1019] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11730216 1.17194918 0.03987147] yaw=-125.1deg [env.py: 1019] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:24:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.9ms, total=141.9ms [env.py: 1075] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.151, 0.040) [env.py: 1079] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg [env.py: 1082] +05/11 13:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:24:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:24:23 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 13:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 13:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:24:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:24:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:24:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:24:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.457[m] 93.923[deg] [grasp_sample.py: 539] +05/11 13:24:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:24:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:24:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:24:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:24:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:24:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:24:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:24:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:24:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:24:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:24:55 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:25:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:25:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:25:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:25:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:25:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:25:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:25:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:25:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:25:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.12s (batch: 3.92s, save: 10.20s) [pipeline.py: 300] +05/11 13:25:35 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.84s: + episode_total: mean=144.17s, total=288.33s, count=2, min=127230.4ms, max=161102.3ms + sensor_polling: mean=367.7ms, total=212.88s, count=579, min=328.7ms, max=742.8ms + physics_step: mean=25.2ms, total=14.57s, count=579, min=17.0ms, max=45.3ms + save_trajectories: mean=10.20s, total=10.20s, count=1, min=10202.5ms, max=10202.5ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3916.1ms, max=3916.1ms + task_sampling: mean=422.4ms, total=844.7ms, count=2, min=384.7ms, max=460.0ms + task_specific_sample: mean=418.4ms, total=836.8ms, count=2, min=381.5ms, max=455.4ms + scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.4ms, max=3.0ms + mj_forward_sync: mean=541.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=12.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:25:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:25:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:25:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:25:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:25:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:25:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:25:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053348m [env.py: 870] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:25:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86923346 1.18721258 0.05334779] yaw=-139.0deg [env.py: 1019] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87711874 0.94987953 0.05334779] yaw=-149.1deg [env.py: 1019] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87327695 0.27007537 0.05334779] yaw=164.3deg [env.py: 1019] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:25:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.7ms [env.py: 1075] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 1.187, 0.053) [env.py: 1079] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.0 deg [env.py: 1082] +05/11 13:25:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:25:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:25:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:25:37 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 13:25:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 13:25:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:25:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:25:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:25:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.211s, found feasible grasp: False [grasp_sample.py: 500] +05/11 13:25:39 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 13:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:25:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:25:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:25:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:25:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:25:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045412m [env.py: 870] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75307628 0.52320562 0.0454121 ] yaw=-182.7deg [env.py: 1019] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94842128 0.56154927 0.0454121 ] yaw=-177.2deg [env.py: 1019] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67158159 0.85880366 0.0454121 ] yaw=-155.7deg [env.py: 1019] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms [env.py: 1075] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.523, 0.045) [env.py: 1079] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.7 deg [env.py: 1082] +05/11 13:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:25:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:25:41 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 13:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 13:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:25:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:25:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.488[m] 86.088[deg] [grasp_sample.py: 539] +05/11 13:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:25:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:25:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:25:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:25:46 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:25:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:00 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:26:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:26:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:26:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:26:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:26:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:26:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:26:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.531s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:26:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.433[deg] [grasp_sample.py: 539] +05/11 13:26:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:26:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:26:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:26:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:26:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.69s (batch: 3.27s, save: 11.42s) [pipeline.py: 300] +05/11 13:26:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:26:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:26:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:26:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:26:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:26:24 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.79s: + episode_total: mean=116.46s, total=232.91s, count=2, min=77097.1ms, max=155814.0ms + sensor_polling: mean=358.0ms, total=164.70s, count=460, min=322.0ms, max=721.4ms + save_trajectories: mean=11.42s, total=11.42s, count=1, min=11418.4ms, max=11418.4ms + physics_step: mean=24.8ms, total=11.39s, count=460, min=16.6ms, max=36.0ms + save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3271.7ms, max=3271.7ms + task_sampling: mean=394.4ms, total=788.7ms, count=2, min=360.5ms, max=428.2ms + task_specific_sample: mean=390.8ms, total=781.6ms, count=2, min=357.4ms, max=424.2ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms + mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:26:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:26:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.545s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:26:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.427[deg] [grasp_sample.py: 539] +05/11 13:26:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:26:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:26:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:26:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:26:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:26:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:26:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046426m [env.py: 870] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:26:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71741582 0.17867829 0.04642602] yaw=151.7deg [env.py: 1019] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84327821 0.92969989 0.04642602] yaw=-161.1deg [env.py: 1019] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:26:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81709105 0.35372364 0.04642602] yaw=178.6deg [env.py: 1019] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.6ms, total=182.7ms [env.py: 1075] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.179, 0.046) [env.py: 1079] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.7 deg [env.py: 1082] +05/11 13:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:26:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:26:26 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 13:26:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:26:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 13:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:26:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:26:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:26:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.971s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:26:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 82.765[deg] [grasp_sample.py: 539] +05/11 13:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:26:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:26:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:26:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:26:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:26:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:26:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:26:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:26:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:26:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.74s (batch: 3.77s, save: 10.97s) [pipeline.py: 300] +05/11 13:26:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.513s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:26:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.427[deg] [grasp_sample.py: 539] +05/11 13:26:39 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.48s: + episode_total: mean=161.47s, total=161.47s, count=1, min=161472.6ms, max=161472.6ms + sensor_polling: mean=369.0ms, total=110.70s, count=300, min=325.7ms, max=722.3ms + save_trajectories: mean=10.97s, total=10.97s, count=1, min=10971.9ms, max=10971.9ms + physics_step: mean=24.7ms, total=7.41s, count=300, min=16.9ms, max=35.8ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3769.3ms, max=3769.3ms + task_sampling: mean=484.3ms, total=484.3ms, count=1, min=484.3ms, max=484.3ms + task_specific_sample: mean=480.2ms, total=480.2ms, count=1, min=480.2ms, max=480.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=460.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.3us, 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] +05/11 13:26:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:26:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:26:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:26:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:26:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:26:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:26:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:26:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:26:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:26:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061398m [env.py: 870] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:26:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67290778 0.26948194 0.06139761] yaw=178.8deg [env.py: 1019] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64392144 0.56755974 0.06139761] yaw=-167.5deg [env.py: 1019] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86146158 0.11060075 0.06139761] yaw=162.0deg [env.py: 1019] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:26:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.9ms [env.py: 1075] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.673, 0.269, 0.061) [env.py: 1079] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.8 deg [env.py: 1082] +05/11 13:26:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:26:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:26:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:26:41 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 13:26:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 13:26:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:26:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:26:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:26:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.101s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:26:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.611[m] 91.183[deg] [grasp_sample.py: 539] +05/11 13:26:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:26:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:26:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:26:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:26:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:26:53 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 13:26:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:27:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:27:15 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:27:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:27:15 INFO: [Worker 0] Preparing episode data: 253 timesteps [save_utils.py: 278] +05/11 13:27:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:27:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m/sim_chunks/chunk_100/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_100/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf6f3319fa5f7f4dc9580d2589a216f78a8c202d --- /dev/null +++ b/fridge_m/sim_chunks/chunk_100/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a12557f012254d916c5107bfb7b29ed37cb208d1a06126ba87c119237d0fa03 +size 456028818 diff --git a/fridge_m/sim_chunks/chunk_100/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_100/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d36d306215ab6424107f30c23c910c2b7f49d471 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_100/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba0fef1397cd511014cda0c1f4ea6a7fb7969be23cf5ad0b3d046bb62c75bd01 +size 618127717 diff --git a/fridge_m/sim_chunks/chunk_100/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_100/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..80f4d17e54834d0b677e849d429ceb2d038413d1 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_100/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb84663b256d7530cad18458cf6a364145595136509e0073157440573f228fdb +size 609226632 diff --git a/fridge_m/sim_chunks/chunk_100/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_100/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..584d2edd6ac54b80d1aeaaafbce4bb9350171e46 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_100/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0d08f4fb5373eda514cb4e0c1a82e9d3d4b14b882555b48f66d818bfb7c70dc +size 637452024