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0000000000000000000000000000000000000000..7d655f3f466935d16729cc79adfdad7aec8c664f --- /dev/null +++ b/fridge_7/chunk_013/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6a101b507e267fdcafc4a200d71bf8adeb536470d2e9be04cfc80665f70df31 +size 119119 diff --git a/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f7823c3228ab342263f0d5f72c2a8f787a25c165 --- /dev/null +++ b/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b67dcaf3cd8b249799a1adda764543e5b908c3d4dfb7595cdc4b18f9f1b1dc2a +size 399674 diff --git a/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d7a6a51fbec6aa9e55e9aa4d236f6b2fecc0cff --- /dev/null +++ b/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:761430b35fef7818124a46c035c64ea4f2ff1f60c46c3ff5c64b4dfdbf08cc34 +size 294101 diff --git a/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9167885f56a7fbb0947e7f0a5b2b6391a9b2d2d4 --- /dev/null +++ b/fridge_7/chunk_013/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fc53e26b0c5980331039ff7fbc0b0b2d929616a28c5b79806a0dbb4ccc8a0a2 +size 420755 diff --git a/fridge_7/chunk_013/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_013/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..120a4c2173f4332213b12c5c1ba4e46704f511c4 --- /dev/null +++ b/fridge_7/chunk_013/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae79a8cda6285601eba4c3cb0c137f420237db3ca144fa154b889b5b3a5f360e +size 738064 diff --git a/fridge_7/chunk_013/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_013/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ff2ffb1e6051862cd92ca3b9c76294598cbb0ac2 --- /dev/null +++ b/fridge_7/chunk_013/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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@@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c215f412170b3e4016ecef6bc797576c3b0c08a4aceeee63c9dc733c79cca9fa +size 777902 diff --git a/fridge_7/chunk_013/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_013/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4797c73fea03c94589a35f73fb58d8af9dc37c49 --- /dev/null +++ b/fridge_7/chunk_013/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc6ac277582d839c53654b2a2d415a330d6ee28a6dffdac6d6d08f360abca8fc +size 182746 diff --git a/fridge_7/chunk_013/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_013/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f51d8b281fad1c2c429e96a65e46dbc924b50aa --- /dev/null +++ b/fridge_7/chunk_013/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f0beb61cd1abad0e90a6656f6e9f9d6b7169dc2ddc4a85d26cb0a57e834c196 +size 419688 diff --git a/fridge_7/chunk_013/running_log.log b/fridge_7/chunk_013/running_log.log index 73e5c56da5eb5e9de79cb264b987585e9796072f..eb12683846be169ec1a670439b0620d0a13830db 100644 --- a/fridge_7/chunk_013/running_log.log +++ b/fridge_7/chunk_013/running_log.log @@ -4015,3 +4015,2137 @@ 05/11 01:59:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] 05/11 01:59:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] 05/11 01:59:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:59:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:59:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:43 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 01:59:43 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.46s: + episode_total: mean=152.41s, total=152.41s, count=1, min=152414.3ms, max=152414.3ms + sensor_polling: mean=452.0ms, total=135.60s, count=300, min=384.2ms, max=790.6ms + physics_step: mean=20.9ms, total=6.26s, count=300, min=16.8ms, max=86.6ms + task_sampling: mean=455.8ms, total=455.8ms, count=1, min=455.8ms, max=455.8ms + task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=452.9us, 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 01:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:59:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:59:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:59:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:59:45 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 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061103m [env.py: 870] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77784123 0.62319549 0.06110304] yaw=-169.7deg [env.py: 1019] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:59:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.6ms [env.py: 1075] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.623, 0.061) [env.py: 1079] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg [env.py: 1082] +05/11 01:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:59:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:59:45 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 01:59:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/11 01:59:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:59:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:59:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:59:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 91.981[deg] [grasp_sample.py: 539] +05/11 01:59:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:59:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:59:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:59:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:59:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:59:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:59:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:59:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.402s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:59:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.928[deg] [grasp_sample.py: 539] +05/11 01:59:53 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:59:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:59:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:59:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:59:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:59:55 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 01:59:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:59:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082688m [env.py: 870] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:59:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94024171 0.96617682 0.0826884 ] yaw=-147.1deg [env.py: 1019] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97057085 0.67192628 0.0826884 ] yaw=-172.6deg [env.py: 1019] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88578268 0.49128565 0.0826884 ] yaw=-177.2deg [env.py: 1019] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:59:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.2ms [env.py: 1075] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.966, 0.083) [env.py: 1079] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg [env.py: 1082] +05/11 01:59:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:59:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:59:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:59:55 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 01:59:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 01:59:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:59:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:59:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:59:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:59:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.439[m] 79.377[deg] [grasp_sample.py: 539] +05/11 01:59:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:59:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:59:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:00:23 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:00:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:00:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:00:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:00:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:00:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:00:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:00:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:00:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:00:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:00:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:00:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:00:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:00:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.36s (batch: 3.52s, save: 7.83s) [pipeline.py: 300] +05/11 02:01:00 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s: + episode_total: mean=92.34s, total=184.68s, count=2, min=216.0ms, max=184463.6ms + sensor_polling: mean=458.0ms, total=137.39s, count=300, min=403.5ms, max=922.0ms + save_trajectories: mean=7.83s, total=7.83s, count=1, min=7834.2ms, max=7834.2ms + physics_step: mean=21.0ms, total=6.29s, count=300, min=13.7ms, max=70.3ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3522.4ms, max=3522.4ms + task_specific_sample: mean=313.9ms, total=627.9ms, count=2, min=209.2ms, max=418.6ms + task_sampling: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms + task_sampling_failed: mean=216.0ms, total=216.0ms, count=1, min=216.0ms, max=216.0ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=529.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:01:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:01:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:01:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:01:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:01:02 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 02:01:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:01:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000024m [env.py: 870] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:01:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-7.79555963e-01 2.12117913e-01 2.41189598e-05] yaw=171.3deg [env.py: 1019] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.67882690e-01 7.57167543e-01 2.41189598e-05] yaw=-160.8deg [env.py: 1019] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.74121758e-01 4.09235639e-01 2.41189598e-05] yaw=176.6deg [env.py: 1019] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:01:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.7ms, total=317.7ms [env.py: 1075] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.212, 0.000) [env.py: 1079] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg [env.py: 1082] +05/11 02:01:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:01:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:01:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:01:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 02:01:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/11 02:01:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:01:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:01:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:01:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.139s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:01:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 100.009[deg] [grasp_sample.py: 539] +05/11 02:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:01:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:01:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:01:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:01:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:01:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:01:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:01:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:01:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.03s, save: 8.38s) [pipeline.py: 300] +05/11 02:01:35 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s: + episode_total: mean=184.32s, total=184.32s, count=1, min=184324.6ms, max=184324.6ms + sensor_polling: mean=452.3ms, total=135.69s, count=300, min=397.5ms, max=712.3ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8381.6ms, max=8381.6ms + physics_step: mean=20.8ms, total=6.24s, count=300, min=15.6ms, max=60.6ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4034.2ms, max=4034.2ms + task_sampling: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms + task_specific_sample: mean=394.3ms, total=394.3ms, count=1, min=394.3ms, max=394.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.1us, 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 02:01:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:01:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:01:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:01:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:01:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:01:37 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 02:01:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:01:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033207m [env.py: 870] +05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:01:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02187623 1.09867045 0.03320744] yaw=-129.9deg [env.py: 1019] +05/11 02:01:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92467512 0.36032287 0.03320744] yaw=173.5deg [env.py: 1019] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80259357 0.56671283 0.03320744] yaw=-165.6deg [env.py: 1019] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:01:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=535.9ms, total=535.9ms [env.py: 1075] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.099, 0.033) [env.py: 1079] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.9 deg [env.py: 1082] +05/11 02:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:01:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:01:38 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 02:01:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 02:01:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:01:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:01:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:01:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.346s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:01:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 93.352[deg] [grasp_sample.py: 539] +05/11 02:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:01:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:01:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:02:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:02:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:02:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:02:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:02:20 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:02:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:02:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:02:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:02:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:02:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:02:40 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:02:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:02:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:02:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:02:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:02:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:02:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.70s (batch: 3.85s, save: 7.85s) [pipeline.py: 300] +05/11 02:02:47 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s: + episode_total: mean=181.84s, total=181.84s, count=1, min=181841.5ms, max=181841.5ms + sensor_polling: mean=450.4ms, total=135.12s, count=300, min=390.1ms, max=700.1ms + save_trajectories: mean=7.85s, total=7.85s, count=1, min=7846.1ms, max=7846.1ms + physics_step: mean=21.6ms, total=6.47s, count=300, min=14.2ms, max=92.8ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms + task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms + task_specific_sample: mean=380.3ms, total=380.3ms, count=1, min=380.3ms, max=380.3ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=370.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:02:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:02:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:02:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:02:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:02:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:02:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:02:48 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 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020453m [env.py: 870] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:02:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05361528 1.26971665 0.02045298] yaw=-133.4deg [env.py: 1019] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92658013 0.4570848 0.02045298] yaw=182.2deg [env.py: 1019] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71873608 0.6239602 0.02045298] yaw=-178.2deg [env.py: 1019] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:02:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.5ms, total=300.5ms [env.py: 1075] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.054, 1.270, 0.020) [env.py: 1079] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg [env.py: 1082] +05/11 02:02:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:02:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:02:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:02:49 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 02:02:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 02:02:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:02:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:02:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:02:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.463s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:02:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.637[m] 98.404[deg] [grasp_sample.py: 539] +05/11 02:02:51 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:02:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:02:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:02:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.79s (batch: 3.91s, save: 7.88s) [pipeline.py: 300] +05/11 02:02:52 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.80s: + episode_total: mean=162.09s, total=324.17s, count=2, min=146501.3ms, max=177670.4ms + sensor_polling: mean=455.4ms, total=242.30s, count=532, min=383.3ms, max=826.7ms + physics_step: mean=21.0ms, total=11.16s, count=532, min=13.3ms, max=78.4ms + save_trajectories: mean=7.88s, total=7.88s, count=1, min=7875.9ms, max=7875.9ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.2ms, max=3911.2ms + task_sampling: mean=398.2ms, total=796.4ms, count=2, min=385.3ms, max=411.1ms + task_specific_sample: mean=394.8ms, total=789.5ms, count=2, min=381.4ms, max=408.2ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms + mj_forward_sync: mean=435.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=14.8us, 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 02:02:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:02:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:02:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:02:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:02:53 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 02:02:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:02:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079521m [env.py: 870] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:02:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06848935 1.06368493 0.07952051] yaw=-142.6deg [env.py: 1019] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78536504 0.11593287 0.07952051] yaw=152.4deg [env.py: 1019] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0410142 1.05791932 0.07952051] yaw=-139.3deg [env.py: 1019] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:02:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.0ms [env.py: 1075] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.064, 0.080) [env.py: 1079] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg [env.py: 1082] +05/11 02:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:02:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:02:53 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:02:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 02:02:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:02:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:02:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:02:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:02:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 86.251[deg] [grasp_sample.py: 539] +05/11 02:02:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:02:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:02:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:02:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:02:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:02:54 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 02:02:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:02:54 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 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019786m [env.py: 870] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:02:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91040554 0.97664215 0.01978585] yaw=-151.5deg [env.py: 1019] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96920041 1.18382702 0.01978585] yaw=-137.0deg [env.py: 1019] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:02:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms [env.py: 1075] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.977, 0.020) [env.py: 1079] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg [env.py: 1082] +05/11 02:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:02:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:02:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:02:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:02:54 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:02:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 02:02:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:02:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:02:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:02:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.320s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:02:57 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.498[m] 88.305[deg] [grasp_sample.py: 539] +05/11 02:02:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:02:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:02:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:03:31 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:03:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:03:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:03:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:03:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:03:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:03:55 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:03:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:03:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:03:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:04:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:04:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:04:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:04:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:04:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:04:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.507s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:04:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.353[deg] [grasp_sample.py: 539] +05/11 02:04:07 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:04:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:04:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:04:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.31s (batch: 3.70s, save: 7.61s) [pipeline.py: 300] +05/11 02:04:07 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s: + episode_total: mean=185.20s, total=185.20s, count=1, min=185196.0ms, max=185196.0ms + sensor_polling: mean=454.4ms, total=136.32s, count=300, min=388.3ms, max=845.9ms + save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.2ms, max=7613.2ms + physics_step: mean=22.3ms, total=6.68s, count=300, min=16.9ms, max=81.4ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.8ms, max=3695.8ms + task_sampling: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms + task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:04:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:04:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:04:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:04:08 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 02:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033110m [env.py: 870] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78524287 1.00001747 0.03310973] yaw=-152.9deg [env.py: 1019] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79539714 1.00948413 0.03310973] yaw=-160.6deg [env.py: 1019] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.5ms [env.py: 1075] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 1.000, 0.033) [env.py: 1079] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg [env.py: 1082] +05/11 02:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:04:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:04:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 02:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 02:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:04:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:04:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:04:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:04:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:04:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:04:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:04:09 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 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086768m [env.py: 870] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:04:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93860989 0.80077422 0.08676849] yaw=-161.9deg [env.py: 1019] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.171801 1.03965258 0.08676849] yaw=-128.1deg [env.py: 1019] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96746457 0.18159077 0.08676849] yaw=147.2deg [env.py: 1019] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:04:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.9ms, total=144.0ms [env.py: 1075] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.801, 0.087) [env.py: 1079] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg [env.py: 1082] +05/11 02:04:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:04:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:04:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:04:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 02:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 02:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:04:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:04:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 89.680[deg] [grasp_sample.py: 539] +05/11 02:04:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:04:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:04:10 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.605[m] 84.653[deg] [grasp_sample.py: 539] +05/11 02:04:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:04:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:04:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:04:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:04:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:04:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:05:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:05:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:05:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:05:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:05:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:05:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:05:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:05:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.461s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:05:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.254[deg] [grasp_sample.py: 539] +05/11 02:05:19 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:05:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:05:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:05:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:05:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:05:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:05:21 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 02:05:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:05:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054386m [env.py: 870] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:05:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88654203 0.84279379 0.05438618] yaw=-161.3deg [env.py: 1019] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8010138 0.54202448 0.05438618] yaw=-179.7deg [env.py: 1019] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12588699 1.11045172 0.05438618] yaw=-122.1deg [env.py: 1019] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms [env.py: 1075] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.843, 0.054) [env.py: 1079] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg [env.py: 1082] +05/11 02:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:05:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:05:21 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 02:05:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 02:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:05:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:05:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:05:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:05:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 85.157[deg] [grasp_sample.py: 539] +05/11 02:05:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:05:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:05:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:05:24 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:05:45 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:05:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:05:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:05:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:05:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:05:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.77s (batch: 3.90s, save: 7.87s) [pipeline.py: 300] +05/11 02:05:58 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s: + episode_total: mean=183.69s, total=183.69s, count=1, min=183689.9ms, max=183689.9ms + sensor_polling: mean=456.4ms, total=136.93s, count=300, min=386.2ms, max=956.0ms + save_trajectories: mean=7.87s, total=7.87s, count=1, min=7870.0ms, max=7870.0ms + physics_step: mean=22.0ms, total=6.59s, count=300, min=13.6ms, max=64.4ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.2ms, max=3896.2ms + task_sampling: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms + task_specific_sample: mean=530.4ms, total=530.4ms, count=1, min=530.4ms, max=530.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, 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 02:05:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:05:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:05:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:05:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:05:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:05:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:05:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026513m [env.py: 870] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:05:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70421075 0.21497112 0.02651289] yaw=176.3deg [env.py: 1019] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82844029 0.73346053 0.02651289] yaw=-159.2deg [env.py: 1019] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8928578 0.36604001 0.02651289] yaw=168.8deg [env.py: 1019] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:05:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.7ms, total=100.7ms [env.py: 1075] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.215, 0.027) [env.py: 1079] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg [env.py: 1082] +05/11 02:05:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:05:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:05:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:05:59 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 02:05:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 02:05:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:05:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:05:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:06:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:06:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.562[m] 79.094[deg] [grasp_sample.py: 539] +05/11 02:06:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:06:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:06:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:06:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:06:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:06:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:06:34 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:06:36 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:06:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:06:57 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:06:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:06:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:06:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:06:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:06:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:07:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:07:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:07:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:07:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:07:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.44s (batch: 4.54s, save: 8.90s) [pipeline.py: 300] +05/11 02:07:11 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.21s: + episode_total: mean=165.90s, total=331.79s, count=2, min=149262.5ms, max=182527.7ms + sensor_polling: mean=446.4ms, total=259.80s, count=582, min=381.4ms, max=838.9ms + physics_step: mean=20.6ms, total=12.00s, count=582, min=16.5ms, max=47.5ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8899.7ms, max=8899.7ms + save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4543.9ms, max=4543.9ms + task_sampling: mean=602.7ms, total=1.21s, count=2, min=409.5ms, max=796.0ms + task_specific_sample: mean=599.0ms, total=1.20s, count=2, min=406.0ms, max=791.9ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms + mj_forward_sync: mean=487.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:07:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:07:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:07:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.25s, save: 8.26s) [pipeline.py: 300] +05/11 02:07:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s: + episode_total: mean=183.16s, total=183.16s, count=1, min=183160.7ms, max=183160.7ms + sensor_polling: mean=455.7ms, total=136.72s, count=300, min=400.4ms, max=805.3ms + save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.2ms, max=8261.2ms + physics_step: mean=21.1ms, total=6.33s, count=300, min=14.2ms, max=58.2ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.0ms, max=4252.0ms + task_sampling: mean=413.3ms, total=413.3ms, count=1, min=413.3ms, max=413.3ms + task_specific_sample: mean=409.6ms, total=409.6ms, count=1, min=409.6ms, max=409.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=528.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.5us, 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 02:07:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:07:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:07:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:07:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:07:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:07:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:07:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067662m [env.py: 870] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:07:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70394456 0.42823037 0.06766191] yaw=171.5deg [env.py: 1019] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:07:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.4ms [env.py: 1075] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.428, 0.068) [env.py: 1079] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg [env.py: 1082] +05/11 02:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:07:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:07:13 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:07:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 02:07:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:07:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:07:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:07:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:07:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.542[m] 88.124[deg] [grasp_sample.py: 539] +05/11 02:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:07:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:07:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:07:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:07:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:07:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:07:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:07:14 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 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060473m [env.py: 870] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:07:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93788413 0.92110969 0.06047299] yaw=-145.9deg [env.py: 1019] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99726076 0.81941412 0.06047299] yaw=-156.1deg [env.py: 1019] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65390642 0.33703063 0.06047299] yaw=180.3deg [env.py: 1019] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:07:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms [env.py: 1075] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.921, 0.060) [env.py: 1079] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg [env.py: 1082] +05/11 02:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:07:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:07:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:07:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:07:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:07:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 02:07:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:07:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:07:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:07:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:07:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 85.709[deg] [grasp_sample.py: 539] +05/11 02:07:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:07:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:07:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:07:46 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:07:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:08:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:08:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:08:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:08:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:08:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:08:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:08:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:08:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:08:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:08:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:08:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.68s (batch: 5.07s, save: 7.61s) [pipeline.py: 300] +05/11 02:08:25 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.19s: + episode_total: mean=111.23s, total=333.69s, count=3, min=3036.4ms, max=184222.6ms + sensor_polling: mean=453.1ms, total=260.53s, count=575, min=384.1ms, max=834.7ms + physics_step: mean=21.5ms, total=12.34s, count=575, min=13.8ms, max=97.6ms + save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.1ms, max=7613.1ms + save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5066.5ms, max=5066.5ms + task_sampling: mean=398.3ms, total=1.19s, count=3, min=307.2ms, max=557.4ms + task_specific_sample: mean=395.2ms, total=1.19s, count=3, min=304.6ms, max=553.8ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.3ms + mj_forward_sync: mean=431.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=17.0us, 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 02:08:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:08:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:08:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:08:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:08:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:08:26 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 02:08:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:08:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081657m [env.py: 870] +05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:08:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:08:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79103009 0.95805076 0.0816567 ] yaw=-142.9deg [env.py: 1019] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88172365 0.72698023 0.0816567 ] yaw=-170.6deg [env.py: 1019] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94299116 0.64185457 0.0816567 ] yaw=-159.8deg [env.py: 1019] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:08:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.1ms, total=93.1ms [env.py: 1075] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.958, 0.082) [env.py: 1079] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg [env.py: 1082] +05/11 02:08:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:08:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:08:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:08:27 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 02:08:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 02:08:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:08:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:08:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:08:28 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:08:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:08:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.651[m] 91.532[deg] [grasp_sample.py: 539] +05/11 02:08:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:08:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:08:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:08:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:08:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:08:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:09:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:09:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:09:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.68s (batch: 3.96s, save: 7.73s) [pipeline.py: 300] +05/11 02:09:03 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s: + episode_total: mean=183.89s, total=183.89s, count=1, min=183890.2ms, max=183890.2ms + sensor_polling: mean=454.8ms, total=136.43s, count=300, min=383.5ms, max=830.9ms + save_trajectories: mean=7.73s, total=7.73s, count=1, min=7725.0ms, max=7725.0ms + physics_step: mean=22.7ms, total=6.82s, count=300, min=13.6ms, max=57.4ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.1ms, max=3959.1ms + task_sampling: mean=351.3ms, total=351.3ms, count=1, min=351.3ms, max=351.3ms + task_specific_sample: mean=347.9ms, total=347.9ms, count=1, min=347.9ms, max=347.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=382.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:09:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:09:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:09:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:09:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:09:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:09:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:09:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:09:04 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 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004930m [env.py: 870] +05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:09:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01614377 0.16706538 0.00493024] yaw=150.1deg [env.py: 1019] +05/11 02:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01214421 0.150388 0.00493024] yaw=157.7deg [env.py: 1019] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83070714 0.88286954 0.00493024] yaw=-152.5deg [env.py: 1019] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:09:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.4ms, total=70.4ms [env.py: 1075] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.167, 0.005) [env.py: 1079] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg [env.py: 1082] +05/11 02:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m [env.py: 1086] +05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:09:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:09:05 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 02:09:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 02:09:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:09:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:09:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:09:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:09:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.367[m] 102.007[deg] [grasp_sample.py: 539] +05/11 02:09:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:09:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:09:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:09:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:09:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:09:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:09:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:09:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:09:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:09:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:09:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:10:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:10:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:10:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:10:02 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:10:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:10:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:10:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:10:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:10:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.48s (batch: 3.91s, save: 11.57s) [pipeline.py: 300] +05/11 02:10:16 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s: + episode_total: mean=182.15s, total=182.15s, count=1, min=182152.2ms, max=182152.2ms + sensor_polling: mean=453.9ms, total=136.16s, count=300, min=395.6ms, max=746.5ms + save_trajectories: mean=11.57s, total=11.57s, count=1, min=11567.6ms, max=11567.6ms + physics_step: mean=21.0ms, total=6.30s, count=300, min=16.9ms, max=49.5ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.3ms, max=3909.3ms + task_sampling: mean=435.4ms, total=435.4ms, count=1, min=435.4ms, max=435.4ms + task_specific_sample: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=726.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:10:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:10:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:10:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.40s (batch: 4.68s, save: 10.72s) [pipeline.py: 300] +05/11 02:10:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:10:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:10:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:10:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:10:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:10:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:10:17 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 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065793m [env.py: 870] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:10:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91874926 0.53316048 0.06579291] yaw=-180.9deg [env.py: 1019] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:10:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms [env.py: 1075] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.533, 0.066) [env.py: 1079] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg [env.py: 1082] +05/11 02:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m [env.py: 1086] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:10:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:10:18 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 02:10:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 02:10:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:10:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:10:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:10:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s: + episode_total: mean=185.56s, total=185.56s, count=1, min=185555.5ms, max=185555.5ms + sensor_polling: mean=455.7ms, total=136.70s, count=300, min=397.6ms, max=768.1ms + save_trajectories: mean=10.72s, total=10.72s, count=1, min=10721.3ms, max=10721.3ms + physics_step: mean=21.9ms, total=6.57s, count=300, min=16.6ms, max=63.6ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.4ms, max=4677.4ms + task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms + task_specific_sample: mean=484.9ms, total=484.9ms, count=1, min=484.9ms, max=484.9ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=400.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:10:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.430s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:10:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.360[m] 87.138[deg] [grasp_sample.py: 539] +05/11 02:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:10:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:10:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:10:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:10:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:10:19 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 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034627m [env.py: 870] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68152315 0.4135844 0.03462703] yaw=172.4deg [env.py: 1019] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75870388 0.94424003 0.03462703] yaw=-160.3deg [env.py: 1019] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.17155577 1.06393791 0.03462703] yaw=-133.2deg [env.py: 1019] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.6ms, total=222.6ms [env.py: 1075] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.414, 0.035) [env.py: 1079] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg [env.py: 1082] +05/11 02:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:10:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:10:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 02:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/11 02:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:10:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:10:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.544[m] 87.401[deg] [grasp_sample.py: 539] +05/11 02:10:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:10:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:10:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:10:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:10:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:11:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:11:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:11:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:11:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:11:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.411s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:11:00 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.151[deg] [grasp_sample.py: 539] +05/11 02:11:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:11:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:11:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:11:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:12 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:11:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:11:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:11:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:11:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:11:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:11:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:11:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.23s (batch: 4.34s, save: 10.89s) [pipeline.py: 300] +05/11 02:11:27 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s: + episode_total: mean=180.99s, total=180.99s, count=1, min=180992.5ms, max=180992.5ms + sensor_polling: mean=448.4ms, total=134.51s, count=300, min=387.1ms, max=836.3ms + save_trajectories: mean=10.89s, total=10.89s, count=1, min=10886.3ms, max=10886.3ms + physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=76.6ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.2ms, max=4344.2ms + task_sampling: mean=353.6ms, total=353.6ms, count=1, min=353.6ms, max=353.6ms + task_specific_sample: mean=350.1ms, total=350.1ms, count=1, min=350.1ms, max=350.1ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, 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 02:11:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:11:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:11:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:11:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:11:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:11:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:11:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081934m [env.py: 870] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:11:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91352809 0.92393993 0.08193438] yaw=-160.4deg [env.py: 1019] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms [env.py: 1075] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.924, 0.082) [env.py: 1079] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg [env.py: 1082] +05/11 02:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:11:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:11:29 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 02:11:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 02:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:11:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:11:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:11:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.531[m] 96.466[deg] [grasp_sample.py: 539] +05/11 02:11:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:11:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:11:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:11:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:11:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:11:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:11:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:11:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:11:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:11:43 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.811[deg] [grasp_sample.py: 539] +05/11 02:11:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:11:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:11:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:11:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:12:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:12:11 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:12:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:12:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:12:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:12:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:12:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:12:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:12:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:12:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:12:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.57s (batch: 3.98s, save: 7.59s) [pipeline.py: 300] +05/11 02:12:43 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.33s: + episode_total: mean=218.51s, total=218.51s, count=1, min=218513.5ms, max=218513.5ms + sensor_polling: mean=469.6ms, total=140.89s, count=300, min=408.0ms, max=816.1ms + save_trajectories: mean=7.59s, total=7.59s, count=1, min=7592.4ms, max=7592.4ms + physics_step: mean=21.1ms, total=6.33s, count=300, min=13.6ms, max=66.0ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.1ms, max=3979.1ms + task_sampling: mean=325.4ms, total=325.4ms, count=1, min=325.4ms, max=325.4ms + task_specific_sample: mean=322.0ms, total=322.0ms, count=1, min=322.0ms, max=322.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=386.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:12:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:12:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:12:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:12:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:12:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:12:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:12:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044415m [env.py: 870] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:12:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77140581 0.05241508 0.04441512] yaw=152.8deg [env.py: 1019] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92259071 1.08767172 0.04441512] yaw=-131.3deg [env.py: 1019] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70458383 0.91251326 0.04441512] yaw=-147.9deg [env.py: 1019] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms [env.py: 1075] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.052, 0.044) [env.py: 1079] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.8 deg [env.py: 1082] +05/11 02:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:12:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:12:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 02:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 02:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:12:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:12:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:12:45 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:12:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:12:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.243s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:12:47 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.603[m] 93.759[deg] [grasp_sample.py: 539] +05/11 02:12:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:12:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:12:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:13:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:13:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:13:07 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/11 02:13:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:13:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:13:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:13:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:13:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:13:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.22s (batch: 3.75s, save: 9.47s) [pipeline.py: 300] +05/11 02:13:21 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.41s: + episode_total: mean=183.47s, total=183.47s, count=1, min=183472.3ms, max=183472.3ms + sensor_polling: mean=460.3ms, total=134.87s, count=293, min=402.7ms, max=1042.2ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9470.1ms, max=9470.1ms + physics_step: mean=23.1ms, total=6.76s, count=293, min=14.4ms, max=86.2ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3746.7ms, max=3746.7ms + task_sampling: mean=408.7ms, total=408.7ms, count=1, min=408.7ms, max=408.7ms + task_specific_sample: mean=405.3ms, total=405.3ms, count=1, min=405.3ms, max=405.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:13:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:13:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:13:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:13:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:13:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:13:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:13:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:13:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034407m [env.py: 870] +05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:13:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:13:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12066675 0.97592577 0.03440719] yaw=-141.2deg [env.py: 1019] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:13:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=655.3ms, total=655.4ms [env.py: 1075] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.121, 0.976, 0.034) [env.py: 1079] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg [env.py: 1082] +05/11 02:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m [env.py: 1086] +05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:13:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:13:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:13:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 02:13:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/11 02:13:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:13:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:13:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:13:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:13:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 80.999[deg] [grasp_sample.py: 539] +05/11 02:13:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:13:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:13:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:13:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:13:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:13:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.92s (batch: 4.04s, save: 10.87s) [pipeline.py: 300] +05/11 02:13:26 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s: + episode_total: mean=186.54s, total=186.54s, count=1, min=186541.4ms, max=186541.4ms + sensor_polling: mean=453.9ms, total=136.17s, count=300, min=394.8ms, max=948.8ms + save_trajectories: mean=10.87s, total=10.87s, count=1, min=10873.8ms, max=10873.8ms + physics_step: mean=22.1ms, total=6.63s, count=300, min=13.5ms, max=41.0ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4044.0ms, max=4044.0ms + task_sampling: mean=502.7ms, total=502.7ms, count=1, min=502.7ms, max=502.7ms + task_specific_sample: mean=499.4ms, total=499.4ms, count=1, min=499.4ms, max=499.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=387.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:13:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:13:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:13:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:13:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:13:28 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 02:13:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:13:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064634m [env.py: 870] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:13:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7492322 0.59827049 0.06463395] yaw=-168.3deg [env.py: 1019] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84550727 0.03044695 0.06463395] yaw=159.4deg [env.py: 1019] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:13:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.4ms, total=254.4ms [env.py: 1075] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.598, 0.065) [env.py: 1079] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg [env.py: 1082] +05/11 02:13:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:13:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:13:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:13:28 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 02:13:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 02:13:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:13:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:13:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:13:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:13:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 98.427[deg] [grasp_sample.py: 539] +05/11 02:13:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:13:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:13:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:13:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:13:53 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:13:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:14:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:14:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:14:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:14:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:14:17 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:14:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:14:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:14:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:14:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:14:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:14:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.53s (batch: 3.91s, save: 9.62s) [pipeline.py: 300] +05/11 02:14:31 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.48s: + episode_total: mean=182.17s, total=182.17s, count=1, min=182170.6ms, max=182170.6ms + sensor_polling: mean=445.0ms, total=133.49s, count=300, min=377.9ms, max=815.2ms + save_trajectories: mean=9.62s, total=9.62s, count=1, min=9623.3ms, max=9623.3ms + physics_step: mean=20.8ms, total=6.25s, count=300, min=13.7ms, max=122.1ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3910.2ms, max=3910.2ms + task_sampling: mean=477.3ms, total=477.3ms, count=1, min=477.3ms, max=477.3ms + task_specific_sample: mean=473.8ms, total=473.8ms, count=1, min=473.8ms, max=473.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 02:14:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:14:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:14:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:14:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:14:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:14:33 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 02:14:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:14:33 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 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007056m [env.py: 870] +05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:14:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79033953 0.10587292 0.00705572] yaw=168.7deg [env.py: 1019] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10505323 1.13187672 0.00705572] yaw=-126.0deg [env.py: 1019] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98772093 0.73590272 0.00705572] yaw=-151.1deg [env.py: 1019] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:14:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=838.8ms, total=838.9ms [env.py: 1075] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.106, 0.007) [env.py: 1079] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg [env.py: 1082] +05/11 02:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:14:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:14:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:14:34 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 02:14:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.157s [base_object_manipulation_planner_policy.py: 377] +05/11 02:14:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:14:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:14:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:14:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:14:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.886s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:14:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.556[m] 84.650[deg] [grasp_sample.py: 539] +05/11 02:14:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:14:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:14:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:14:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:15:20 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:15:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:15:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:15:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:15:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:15:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:15:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:15:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:15:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:15:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:15:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:15:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.09s (batch: 3.92s, save: 7.18s) [pipeline.py: 300] +05/11 02:15:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.493s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:15:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.353[deg] [grasp_sample.py: 539] +05/11 02:15:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s: + episode_total: mean=186.71s, total=186.71s, count=1, min=186708.6ms, max=186708.6ms + sensor_polling: mean=473.2ms, total=141.97s, count=300, min=404.4ms, max=989.0ms + save_trajectories: mean=7.18s, total=7.18s, count=1, min=7175.8ms, max=7175.8ms + physics_step: mean=21.4ms, total=6.42s, count=300, min=16.7ms, max=58.3ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.7ms, max=3915.7ms + task_sampling: mean=439.9ms, total=439.9ms, count=1, min=439.9ms, max=439.9ms + task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:15:52 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:15:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:15:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:15:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:15:53 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 02:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:15:53 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 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059628m [env.py: 870] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07893819 0.90348727 0.05962831] yaw=-149.1deg [env.py: 1019] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:15:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.4ms [env.py: 1075] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.903, 0.060) [env.py: 1079] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.1 deg [env.py: 1082] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m [env.py: 1086] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:15:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:15:53 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 02:15:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 02:15:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:15:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:15:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:15:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:15:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:15:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:15:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:15:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:15:53 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 02:15:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:15:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053524m [env.py: 870] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:15:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.6ms, total=158.6ms [env.py: 1105] +05/11 02:15:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 02:15:54 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 02:15:54 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:15:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.605s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:15:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 85.769[deg] [grasp_sample.py: 539] +05/11 02:15:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:15:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:15:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:15:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:15:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:15:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:15:55 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 02:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:15:55 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 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046928m [env.py: 870] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93058141 0.39720608 0.04692755] yaw=163.1deg [env.py: 1019] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88668265 1.09387563 0.04692755] yaw=-144.7deg [env.py: 1019] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00789682 1.09355059 0.04692755] yaw=-135.9deg [env.py: 1019] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.5ms, total=109.5ms [env.py: 1075] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.047) [env.py: 1079] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg [env.py: 1082] +05/11 02:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m [env.py: 1086] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:15:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:15:56 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 02:15:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 02:15:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:15:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:15:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:15:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.427s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:15:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.333[m] 86.966[deg] [grasp_sample.py: 539] +05/11 02:15:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:15:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:15:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:16:16 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:16:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:16:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:16:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:16:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:16:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:16:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:16:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.40s (batch: 4.00s, save: 8.40s) [pipeline.py: 300] +05/11 02:16:29 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.57s: + episode_total: mean=181.59s, total=181.59s, count=1, min=181589.6ms, max=181589.6ms + sensor_polling: mean=451.4ms, total=135.43s, count=300, min=394.9ms, max=744.7ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8402.2ms, max=8402.2ms + physics_step: mean=20.5ms, total=6.16s, count=300, min=14.5ms, max=66.2ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.3ms, max=3998.3ms + task_sampling: mean=566.5ms, total=566.5ms, count=1, min=566.5ms, max=566.5ms + task_specific_sample: mean=562.9ms, total=562.9ms, count=1, min=562.9ms, max=562.9ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 02:16:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:16:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:16:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:16:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:16:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:16:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:16:31 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 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072093m [env.py: 870] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:16:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83560006 0.81752111 0.07209266] yaw=-163.6deg [env.py: 1019] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86615929 1.06937182 0.07209266] yaw=-148.1deg [env.py: 1019] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:16:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=485.9ms, total=485.9ms [env.py: 1075] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.818, 0.072) [env.py: 1079] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg [env.py: 1082] +05/11 02:16:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:16:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:16:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:16:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 02:16:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/11 02:16:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:16:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:16:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:16:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:16:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 101.041[deg] [grasp_sample.py: 539] +05/11 02:16:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:16:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:16:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:16:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:16:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:16:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:16:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:17:07 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:17:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:27 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:17:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:17:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:17:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:17:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:17:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:17:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:17:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:17:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.878s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:17:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg] [grasp_sample.py: 539] +05/11 02:17:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:17:40 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:17:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:17:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:17:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.40s (batch: 3.84s, save: 10.56s) [pipeline.py: 300] +05/11 02:17:42 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:17:42 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:17:42 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes [pipeline.py: 1323] +05/11 02:17:42 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5052.42s + House averages: + episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms + sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms + physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms + save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms + save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms + task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms + task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms + scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms + compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms + task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms + compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms + scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms + scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms + compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms + scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms + mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms + compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms + asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 02:17:42 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 02:17:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5052.42s + Worker averages: + episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms + sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms + physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms + save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms + save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms + task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms + task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms + scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms + compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms + task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms + compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms + scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms + scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms + compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms + scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms + mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms + compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms + asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 02:17:42 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s: + episode_total: mean=189.22s, total=189.22s, count=1, min=189219.2ms, max=189219.2ms + sensor_polling: mean=449.7ms, total=134.91s, count=300, min=396.7ms, max=619.1ms + save_trajectories: mean=10.56s, total=10.56s, count=1, min=10560.4ms, max=10560.4ms + physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=41.1ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3835.8ms, max=3835.8ms + task_sampling: mean=1.19s, total=1.19s, count=1, min=1192.8ms, max=1192.8ms + task_specific_sample: mean=1.19s, total=1.19s, count=1, min=1188.5ms, max=1188.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=526.0us, 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 02:17:44 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:17:44 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:17:44 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes [pipeline.py: 1323] +05/11 02:17:44 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5068.46s + House averages: + episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms + sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms + save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms + physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms + save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms + task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms + task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms + scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms + scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms + compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms + compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms + scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms + scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms + asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms + asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms + asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 02:17:44 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 02:17:44 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5068.46s + Worker averages: + episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms + sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms + save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms + physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms + save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms + task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms + task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms + scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms + scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms + compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms + compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms + scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms + scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms + asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms + asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms + asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 02:17:45 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 02:17:45 INFO: Success count: 10, Total count: 10 [pipeline.py: 1491] +05/11 02:17:45 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 02:17:47 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 02:17:47 INFO: Success count: 12, Total count: 13 [pipeline.py: 1491] +05/11 02:17:47 INFO: Success rate: 92.31% [pipeline.py: 1492] +05/11 02:18:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:18:36 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:18:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:18:36 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/11 02:18:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:18:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:18:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 11.22s (batch: 3.79s, save: 7.43s) [pipeline.py: 300] +05/11 02:18:48 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s: + episode_total: mean=174.94s, total=174.94s, count=1, min=174943.0ms, max=174943.0ms + sensor_polling: mean=460.3ms, total=133.02s, count=289, min=385.9ms, max=722.4ms + save_trajectories: mean=7.43s, total=7.43s, count=1, min=7425.8ms, max=7425.8ms + physics_step: mean=21.7ms, total=6.28s, count=289, min=13.4ms, max=51.5ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3789.3ms, max=3789.3ms + task_sampling: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms + task_specific_sample: mean=450.4ms, total=450.4ms, count=1, min=450.4ms, max=450.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:18:49 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:18:49 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:18:49 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes [pipeline.py: 1323] +05/11 02:18:49 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5141.37s + House averages: + episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms + sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms + save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms + physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms + save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms + task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms + task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms + scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms + scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms + compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms + compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms + scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms + compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 02:18:49 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 02:18:49 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5141.37s + Worker averages: + episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms + sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms + save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms + physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms + save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms + task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms + task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms + scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms + scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms + compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms + compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms + scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms + compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 02:18:51 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 02:18:51 INFO: Success count: 12, Total count: 12 [pipeline.py: 1491] +05/11 02:18:51 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 02:18:53 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:19:15 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 02:19:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:19:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:19:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:19:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 02:19:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 10.73s (batch: 3.37s, save: 7.36s) [pipeline.py: 300] +05/11 02:19:26 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.82s: + episode_total: mean=175.15s, total=175.15s, count=1, min=175154.4ms, max=175154.4ms + sensor_polling: mean=435.9ms, total=130.76s, count=300, min=362.4ms, max=720.2ms + save_trajectories: mean=7.36s, total=7.36s, count=1, min=7356.1ms, max=7356.1ms + physics_step: mean=20.6ms, total=6.17s, count=300, min=15.9ms, max=58.1ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.6ms, max=3374.6ms + task_sampling: mean=824.7ms, total=824.7ms, count=1, min=824.7ms, max=824.7ms + task_specific_sample: mean=820.5ms, total=820.5ms, count=1, min=820.5ms, max=820.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:19:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:19:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:19:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:19:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:19:27 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 02:19:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:19:27 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 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008717m [env.py: 870] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:19:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91543559 0.31672414 0.00871677] yaw=166.6deg [env.py: 1019] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8097813 0.98994931 0.00871677] yaw=-146.4deg [env.py: 1019] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97364448 0.92436871 0.00871677] yaw=-140.9deg [env.py: 1019] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:19:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.4ms, total=110.4ms [env.py: 1075] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.317, 0.009) [env.py: 1079] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg [env.py: 1082] +05/11 02:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:19:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:19:28 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 02:19:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 02:19:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:19:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:19:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:19:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:19:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.369[m] 93.495[deg] [grasp_sample.py: 539] +05/11 02:19:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:19:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:19:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:20:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:20:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:20:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:21:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:21:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:21:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:21:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:21:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.719s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:21:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg] [grasp_sample.py: 539] +05/11 02:21:09 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:21:11 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:21:11 WARNING: [Worker 0] No trajectory data to save for chunk_013 [pipeline.py: 234] +05/11 02:21:11 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/11 02:21:11 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5393.13s + House averages: + episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms + sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms + save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms + physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms + save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms + task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms + task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms + scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms + scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms + compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms + compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms + compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 02:21:11 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 02:21:11 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5393.13s + Worker averages: + episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms + sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms + save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms + physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms + save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms + task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms + task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms + scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms + scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms + compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms + compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms + compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 02:21:13 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 02:21:13 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/11 02:21:13 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge_7/chunk_013/shard_1_of_4.log b/fridge_7/chunk_013/shard_1_of_4.log index 361745532e96a2962bd1ce816a3cea610fc96df7..d0884a33321a32c887c8ebad8df1c8d079f859b9 100644 --- a/fridge_7/chunk_013/shard_1_of_4.log +++ b/fridge_7/chunk_013/shard_1_of_4.log @@ -1157,3 +1157,619 @@ ValueError: IK failed for pregrasp pose [05/11 01:59:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/11 01:59:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 01:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:00:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 02:01:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:01:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 02:01:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:01:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:01:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:01:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.03s, save: 8.38s) +[05/11 02:01:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.40s: + episode_total: mean=184.32s, total=184.32s, count=1, min=184324.6ms, max=184324.6ms + sensor_polling: mean=452.3ms, total=135.69s, count=300, min=397.5ms, max=712.3ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8381.6ms, max=8381.6ms + physics_step: mean=20.8ms, total=6.24s, count=300, min=15.6ms, max=60.6ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4034.2ms, max=4034.2ms + task_sampling: mean=397.9ms, total=397.9ms, count=1, min=397.9ms, max=397.9ms + task_specific_sample: mean=394.3ms, total=394.3ms, count=1, min=394.3ms, max=394.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:01:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:01:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:01:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:01:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:01:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:01:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:01:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:01:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) +[05/11 02:01:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:01:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:01:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033207m +[05/11 02:01:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:01:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:01:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:01:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02187623 1.09867045 0.03320744] yaw=-129.9deg +[05/11 02:01:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:01:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:01:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:01:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:01:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92467512 0.36032287 0.03320744] yaw=173.5deg +[05/11 02:01:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:01:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80259357 0.56671283 0.03320744] yaw=-165.6deg +[05/11 02:01:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:01:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:01:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=535.9ms, total=535.9ms +[05/11 02:01:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.099, 0.033) +[05/11 02:01:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -129.9 deg +[05/11 02:01:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.918m +[05/11 02:01:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:01:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:01:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:01:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:01:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 02:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s +[05/11 02:01:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:01:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:01:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps +[05/11 02:01:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.346s, found feasible grasp: True +[05/11 02:01:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.496[m] 93.352[deg] +[05/11 02:01:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:03:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:04:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:04:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:04:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps +[05/11 02:04:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.507s, found feasible grasp: True +[05/11 02:04:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.353[deg] +[05/11 02:04:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:04:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:04:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:04:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:04:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) +[05/11 02:04:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:04:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:04:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033110m +[05/11 02:04:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:04:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:04:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78524287 1.00001747 0.03310973] yaw=-152.9deg +[05/11 02:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79539714 1.00948413 0.03310973] yaw=-160.6deg +[05/11 02:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:04:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:04:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.5ms +[05/11 02:04:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.785, 1.000, 0.033) +[05/11 02:04:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg +[05/11 02:04:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m +[05/11 02:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:04:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:04:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 02:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s +[05/11 02:04:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:04:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:04:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True +[05/11 02:04:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.605[m] 84.653[deg] +[05/11 02:04:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:04:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:04:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:06:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/11 02:06:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:06:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 02:06:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:07:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:07:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:07:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.44s (batch: 4.54s, save: 8.90s) +[05/11 02:07:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.21s: + episode_total: mean=165.90s, total=331.79s, count=2, min=149262.5ms, max=182527.7ms + sensor_polling: mean=446.4ms, total=259.80s, count=582, min=381.4ms, max=838.9ms + physics_step: mean=20.6ms, total=12.00s, count=582, min=16.5ms, max=47.5ms + save_trajectories: mean=8.90s, total=8.90s, count=1, min=8899.7ms, max=8899.7ms + save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4543.9ms, max=4543.9ms + task_sampling: mean=602.7ms, total=1.21s, count=2, min=409.5ms, max=796.0ms + task_specific_sample: mean=599.0ms, total=1.20s, count=2, min=406.0ms, max=791.9ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms + mj_forward_sync: mean=487.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:07:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:07:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:07:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:07:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) +[05/11 02:07:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:07:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:07:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067662m +[05/11 02:07:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:07:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:07:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70394456 0.42823037 0.06766191] yaw=171.5deg +[05/11 02:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:07:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:07:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.4ms +[05/11 02:07:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.428, 0.068) +[05/11 02:07:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg +[05/11 02:07:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.000m +[05/11 02:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:07:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:07:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s +[05/11 02:07:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:07:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:07:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:07:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True +[05/11 02:07:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.542[m] 88.124[deg] +[05/11 02:07:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:08:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:08:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:09:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 02:10:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:10:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 02:10:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:10:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:10:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:10:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.40s (batch: 4.68s, save: 10.72s) +[05/11 02:10:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s: + episode_total: mean=185.56s, total=185.56s, count=1, min=185555.5ms, max=185555.5ms + sensor_polling: mean=455.7ms, total=136.70s, count=300, min=397.6ms, max=768.1ms + save_trajectories: mean=10.72s, total=10.72s, count=1, min=10721.3ms, max=10721.3ms + physics_step: mean=21.9ms, total=6.57s, count=300, min=16.6ms, max=63.6ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.4ms, max=4677.4ms + task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms + task_specific_sample: mean=484.9ms, total=484.9ms, count=1, min=484.9ms, max=484.9ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=400.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:10:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:10:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:10:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:10:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:10:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:10:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:10:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:10:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) +[05/11 02:10:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:10:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:10:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034627m +[05/11 02:10:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:10:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:10:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:10:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68152315 0.4135844 0.03462703] yaw=172.4deg +[05/11 02:10:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:10:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:10:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:10:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75870388 0.94424003 0.03462703] yaw=-160.3deg +[05/11 02:10:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:10:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:10:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.17155577 1.06393791 0.03462703] yaw=-133.2deg +[05/11 02:10:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:10:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:10:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.6ms, total=222.6ms +[05/11 02:10:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.682, 0.414, 0.035) +[05/11 02:10:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.4 deg +[05/11 02:10:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.023m +[05/11 02:10:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:10:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:10:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:10:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:10:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:10:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 02:10:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s +[05/11 02:10:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:10:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:10:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps +[05/11 02:10:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True +[05/11 02:10:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.544[m] 87.401[deg] +[05/11 02:10:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:11:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:11:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:12:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 02:13:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:13:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 02:13:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:13:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:13:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:13:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.92s (batch: 4.04s, save: 10.87s) +[05/11 02:13:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s: + episode_total: mean=186.54s, total=186.54s, count=1, min=186541.4ms, max=186541.4ms + sensor_polling: mean=453.9ms, total=136.17s, count=300, min=394.8ms, max=948.8ms + save_trajectories: mean=10.87s, total=10.87s, count=1, min=10873.8ms, max=10873.8ms + physics_step: mean=22.1ms, total=6.63s, count=300, min=13.5ms, max=41.0ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4044.0ms, max=4044.0ms + task_sampling: mean=502.7ms, total=502.7ms, count=1, min=502.7ms, max=502.7ms + task_specific_sample: mean=499.4ms, total=499.4ms, count=1, min=499.4ms, max=499.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=387.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:13:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:13:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:13:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:13:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:13:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:13:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:13:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) +[05/11 02:13:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:13:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:13:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064634m +[05/11 02:13:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:13:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:13:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7492322 0.59827049 0.06463395] yaw=-168.3deg +[05/11 02:13:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:13:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84550727 0.03044695 0.06463395] yaw=159.4deg +[05/11 02:13:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:13:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:13:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=254.4ms, total=254.4ms +[05/11 02:13:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.598, 0.065) +[05/11 02:13:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg +[05/11 02:13:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.960m +[05/11 02:13:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:13:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:13:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:13:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:13:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 02:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s +[05/11 02:13:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:13:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:13:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps +[05/11 02:13:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True +[05/11 02:13:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 98.427[deg] +[05/11 02:13:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:14:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:14:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:14:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:15:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 02:16:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:16:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 02:16:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:16:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:16:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:16:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.40s (batch: 4.00s, save: 8.40s) +[05/11 02:16:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.57s: + episode_total: mean=181.59s, total=181.59s, count=1, min=181589.6ms, max=181589.6ms + sensor_polling: mean=451.4ms, total=135.43s, count=300, min=394.9ms, max=744.7ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8402.2ms, max=8402.2ms + physics_step: mean=20.5ms, total=6.16s, count=300, min=14.5ms, max=66.2ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.3ms, max=3998.3ms + task_sampling: mean=566.5ms, total=566.5ms, count=1, min=566.5ms, max=566.5ms + task_specific_sample: mean=562.9ms, total=562.9ms, count=1, min=562.9ms, max=562.9ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/11 02:16:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:16:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:16:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:16:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:16:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:16:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:16:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:16:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) +[05/11 02:16:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:16:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:16:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072093m +[05/11 02:16:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:16:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:16:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:16:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83560006 0.81752111 0.07209266] yaw=-163.6deg +[05/11 02:16:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:16:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:16:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86615929 1.06937182 0.07209266] yaw=-148.1deg +[05/11 02:16:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:16:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:16:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=485.9ms, total=485.9ms +[05/11 02:16:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.818, 0.072) +[05/11 02:16:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg +[05/11 02:16:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m +[05/11 02:16:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:16:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:16:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:16:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:16:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:16:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 02:16:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s +[05/11 02:16:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:16:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:16:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/11 02:16:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True +[05/11 02:16:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.527[m] 101.041[deg] +[05/11 02:16:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:16:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:16:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:18:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 02:19:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:19:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 02:19:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:19:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:19:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:19:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 10.73s (batch: 3.37s, save: 7.36s) +[05/11 02:19:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.82s: + episode_total: mean=175.15s, total=175.15s, count=1, min=175154.4ms, max=175154.4ms + sensor_polling: mean=435.9ms, total=130.76s, count=300, min=362.4ms, max=720.2ms + save_trajectories: mean=7.36s, total=7.36s, count=1, min=7356.1ms, max=7356.1ms + physics_step: mean=20.6ms, total=6.17s, count=300, min=15.9ms, max=58.1ms + save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3374.6ms, max=3374.6ms + task_sampling: mean=824.7ms, total=824.7ms, count=1, min=824.7ms, max=824.7ms + task_specific_sample: mean=820.5ms, total=820.5ms, count=1, min=820.5ms, max=820.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=532.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:19:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:19:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:19:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:19:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) +[05/11 02:19:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:19:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:19:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008717m +[05/11 02:19:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:19:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:19:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91543559 0.31672414 0.00871677] yaw=166.6deg +[05/11 02:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:19:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:19:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8097813 0.98994931 0.00871677] yaw=-146.4deg +[05/11 02:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97364448 0.92436871 0.00871677] yaw=-140.9deg +[05/11 02:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:19:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:19:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.4ms, total=110.4ms +[05/11 02:19:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.317, 0.009) +[05/11 02:19:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg +[05/11 02:19:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m +[05/11 02:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:19:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:19:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 02:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/11 02:19:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:19:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:19:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 02:19:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True +[05/11 02:19:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.369[m] 93.495[deg] +[05/11 02:19:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:20:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:21:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:21:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:21:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:21:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps +[05/11 02:21:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.719s, found feasible grasp: True +[05/11 02:21:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg] +[05/11 02:21:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:21:11 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:21:11 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:21:11 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes +[05/11 02:21:11 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5393.13s + House averages: + episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms + sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms + save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms + physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms + save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms + task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms + task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms + scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms + scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms + compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms + compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms + compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:21:11 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 02:21:11 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5393.13s + Worker averages: + episode_total: mean=164.07s, total=2953.32s, count=18, min=3195.6ms, max=237329.7ms + sensor_polling: mean=467.8ms, total=2130.42s, count=4554, min=362.4ms, max=948.8ms + save_trajectories: mean=9.23s, total=119.98s, count=13, min=7356.1ms, max=11037.8ms + physics_step: mean=22.2ms, total=101.18s, count=4554, min=13.4ms, max=134.4ms + save_batch_prep: mean=4.35s, total=56.58s, count=13, min=3374.6ms, max=5333.9ms + task_sampling: mean=743.9ms, total=13.39s, count=18, min=376.1ms, max=4407.1ms + task_specific_sample: mean=537.6ms, total=9.68s, count=18, min=372.4ms, max=820.5ms + scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms + scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms + compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms + compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms + compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + scene_randomize: mean=2.3ms, total=40.7ms, count=18, min=1.2ms, max=2.9ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + mj_forward_sync: mean=463.6us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=19.5us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:21:13 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 02:21:13 INFO pipeline.py:1491] Success count: 13, Total count: 13 +[05/11 02:21:13 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_013 +========================================== diff --git a/fridge_7/chunk_013/shard_2_of_4.log b/fridge_7/chunk_013/shard_2_of_4.log index e04bfa097b41f8f0bdf06b49dd670e5a34b95fe0..198ed2518ce807a3d60664f1124aeffbb8fe6875 100644 --- a/fridge_7/chunk_013/shard_2_of_4.log +++ b/fridge_7/chunk_013/shard_2_of_4.log @@ -1077,3 +1077,580 @@ ValueError: IK failed for pregrasp pose [05/11 01:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... [05/11 01:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:59:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:59:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:59:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False +[05/11 01:59:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=False episode_total=0.46s: + episode_total: mean=152.41s, total=152.41s, count=1, min=152414.3ms, max=152414.3ms + sensor_polling: mean=452.0ms, total=135.60s, count=300, min=384.2ms, max=790.6ms + physics_step: mean=20.9ms, total=6.26s, count=300, min=16.8ms, max=86.6ms + task_sampling: mean=455.8ms, total=455.8ms, count=1, min=455.8ms, max=455.8ms + task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=452.9us, 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 +[05/11 01:59:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:59:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:59:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:59:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:59:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:59:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:59:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:59:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) +[05/11 01:59:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:59:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:59:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061103m +[05/11 01:59:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:59:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:59:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77784123 0.62319549 0.06110304] yaw=-169.7deg +[05/11 01:59:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:59:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:59:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.6ms +[05/11 01:59:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.623, 0.061) +[05/11 01:59:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg +[05/11 01:59:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m +[05/11 01:59:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:59:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:59:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:59:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:59:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:59:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 01:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.067s +[05/11 01:59:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:59:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:59:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 01:59:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True +[05/11 01:59:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.496[m] 91.981[deg] +[05/11 01:59:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:00:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:02:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 02:02:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:02:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 02:02:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:02:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:02:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:02:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.70s (batch: 3.85s, save: 7.85s) +[05/11 02:02:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.38s: + episode_total: mean=181.84s, total=181.84s, count=1, min=181841.5ms, max=181841.5ms + sensor_polling: mean=450.4ms, total=135.12s, count=300, min=390.1ms, max=700.1ms + save_trajectories: mean=7.85s, total=7.85s, count=1, min=7846.1ms, max=7846.1ms + physics_step: mean=21.6ms, total=6.47s, count=300, min=14.2ms, max=92.8ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms + task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms + task_specific_sample: mean=380.3ms, total=380.3ms, count=1, min=380.3ms, max=380.3ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=370.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:02:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:02:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:02:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:02:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:02:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:02:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:02:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:02:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) +[05/11 02:02:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:02:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:02:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020453m +[05/11 02:02:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:02:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:02:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:02:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05361528 1.26971665 0.02045298] yaw=-133.4deg +[05/11 02:02:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:02:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92658013 0.4570848 0.02045298] yaw=182.2deg +[05/11 02:02:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:02:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71873608 0.6239602 0.02045298] yaw=-178.2deg +[05/11 02:02:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:02:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:02:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.5ms, total=300.5ms +[05/11 02:02:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.054, 1.270, 0.020) +[05/11 02:02:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg +[05/11 02:02:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.020m +[05/11 02:02:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:02:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:02:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:02:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:02:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:02:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 02:02:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s +[05/11 02:02:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:02:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:02:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps +[05/11 02:02:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.463s, found feasible grasp: True +[05/11 02:02:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.637[m] 98.404[deg] +[05/11 02:02:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:02:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:02:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:02:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:02:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:02:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:02:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:02:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:02:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) +[05/11 02:02:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:02:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:02:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079521m +[05/11 02:02:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:02:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:02:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:02:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06848935 1.06368493 0.07952051] yaw=-142.6deg +[05/11 02:02:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:02:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78536504 0.11593287 0.07952051] yaw=152.4deg +[05/11 02:02:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:02:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0410142 1.05791932 0.07952051] yaw=-139.3deg +[05/11 02:02:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:02:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:02:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.0ms +[05/11 02:02:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.064, 0.080) +[05/11 02:02:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg +[05/11 02:02:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.860m +[05/11 02:02:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:02:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:02:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:02:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:02:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:02:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s +[05/11 02:02:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:02:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:02:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:02:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True +[05/11 02:02:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 86.251[deg] +[05/11 02:02:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:05:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:05:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:05:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:05:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:05:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps +[05/11 02:05:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.461s, found feasible grasp: True +[05/11 02:05:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.254[deg] +[05/11 02:05:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:05:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:05:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:05:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:05:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:05:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:05:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:05:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:05:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) +[05/11 02:05:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:05:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:05:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054386m +[05/11 02:05:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:05:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:05:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88654203 0.84279379 0.05438618] yaw=-161.3deg +[05/11 02:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8010138 0.54202448 0.05438618] yaw=-179.7deg +[05/11 02:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12588699 1.11045172 0.05438618] yaw=-122.1deg +[05/11 02:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:05:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:05:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms +[05/11 02:05:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.843, 0.054) +[05/11 02:05:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg +[05/11 02:05:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m +[05/11 02:05:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:05:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:05:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:05:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:05:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:05:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 02:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s +[05/11 02:05:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:05:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:05:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps +[05/11 02:05:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True +[05/11 02:05:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.451[m] 85.157[deg] +[05/11 02:05:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:07:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 02:08:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:08:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 02:08:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:08:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:08:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:08:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.68s (batch: 5.07s, save: 7.61s) +[05/11 02:08:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.19s: + episode_total: mean=111.23s, total=333.69s, count=3, min=3036.4ms, max=184222.6ms + sensor_polling: mean=453.1ms, total=260.53s, count=575, min=384.1ms, max=834.7ms + physics_step: mean=21.5ms, total=12.34s, count=575, min=13.8ms, max=97.6ms + save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.1ms, max=7613.1ms + save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5066.5ms, max=5066.5ms + task_sampling: mean=398.3ms, total=1.19s, count=3, min=307.2ms, max=557.4ms + task_specific_sample: mean=395.2ms, total=1.19s, count=3, min=304.6ms, max=553.8ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.3ms + mj_forward_sync: mean=431.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=17.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms +[05/11 02:08:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:08:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:08:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:08:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:08:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:08:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:08:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:08:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) +[05/11 02:08:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:08:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:08:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081657m +[05/11 02:08:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:08:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:08:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:08:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79103009 0.95805076 0.0816567 ] yaw=-142.9deg +[05/11 02:08:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:08:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88172365 0.72698023 0.0816567 ] yaw=-170.6deg +[05/11 02:08:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:08:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94299116 0.64185457 0.0816567 ] yaw=-159.8deg +[05/11 02:08:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:08:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:08:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.1ms, total=93.1ms +[05/11 02:08:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.958, 0.082) +[05/11 02:08:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg +[05/11 02:08:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.028m +[05/11 02:08:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:08:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:08:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:08:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:08:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:08:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 02:08:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s +[05/11 02:08:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:08:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:08:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps +[05/11 02:08:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True +[05/11 02:08:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.651[m] 91.532[deg] +[05/11 02:08:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:09:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:09:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:10:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 02:11:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:11:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 02:11:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:11:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:11:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:11:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.23s (batch: 4.34s, save: 10.89s) +[05/11 02:11:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s: + episode_total: mean=180.99s, total=180.99s, count=1, min=180992.5ms, max=180992.5ms + sensor_polling: mean=448.4ms, total=134.51s, count=300, min=387.1ms, max=836.3ms + save_trajectories: mean=10.89s, total=10.89s, count=1, min=10886.3ms, max=10886.3ms + physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=76.6ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.2ms, max=4344.2ms + task_sampling: mean=353.6ms, total=353.6ms, count=1, min=353.6ms, max=353.6ms + task_specific_sample: mean=350.1ms, total=350.1ms, count=1, min=350.1ms, max=350.1ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=373.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:11:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:11:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:11:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:11:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:11:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:11:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:11:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:11:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) +[05/11 02:11:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:11:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:11:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081934m +[05/11 02:11:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:11:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:11:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:11:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91352809 0.92393993 0.08193438] yaw=-160.4deg +[05/11 02:11:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:11:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:11:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=224.9ms +[05/11 02:11:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.924, 0.082) +[05/11 02:11:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg +[05/11 02:11:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.904m +[05/11 02:11:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:11:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:11:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:11:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:11:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:11:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 02:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s +[05/11 02:11:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:11:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:11:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps +[05/11 02:11:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True +[05/11 02:11:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.531[m] 96.466[deg] +[05/11 02:11:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:13:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 02:14:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:14:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 02:14:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:14:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:14:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:14:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.53s (batch: 3.91s, save: 9.62s) +[05/11 02:14:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.48s: + episode_total: mean=182.17s, total=182.17s, count=1, min=182170.6ms, max=182170.6ms + sensor_polling: mean=445.0ms, total=133.49s, count=300, min=377.9ms, max=815.2ms + save_trajectories: mean=9.62s, total=9.62s, count=1, min=9623.3ms, max=9623.3ms + physics_step: mean=20.8ms, total=6.25s, count=300, min=13.7ms, max=122.1ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3910.2ms, max=3910.2ms + task_sampling: mean=477.3ms, total=477.3ms, count=1, min=477.3ms, max=477.3ms + task_specific_sample: mean=473.8ms, total=473.8ms, count=1, min=473.8ms, max=473.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/11 02:14:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:14:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:14:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:14:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:14:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:14:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:14:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:14:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) +[05/11 02:14:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:14:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:14:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007056m +[05/11 02:14:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:14:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:14:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:14:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:14:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:14:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:14:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79033953 0.10587292 0.00705572] yaw=168.7deg +[05/11 02:14:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:14:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:14:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10505323 1.13187672 0.00705572] yaw=-126.0deg +[05/11 02:14:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:14:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98772093 0.73590272 0.00705572] yaw=-151.1deg +[05/11 02:14:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:14:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:14:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=838.8ms, total=838.9ms +[05/11 02:14:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.106, 0.007) +[05/11 02:14:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg +[05/11 02:14:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.987m +[05/11 02:14:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:14:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:14:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:14:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:14:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:14:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 02:14:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.157s +[05/11 02:14:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:14:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:14:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps +[05/11 02:14:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.886s, found feasible grasp: True +[05/11 02:14:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.556[m] 84.650[deg] +[05/11 02:14:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:15:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:15:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:17:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 02:17:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:17:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 02:17:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:17:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:17:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:17:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.40s (batch: 3.84s, save: 10.56s) +[05/11 02:17:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.19s: + episode_total: mean=189.22s, total=189.22s, count=1, min=189219.2ms, max=189219.2ms + sensor_polling: mean=449.7ms, total=134.91s, count=300, min=396.7ms, max=619.1ms + save_trajectories: mean=10.56s, total=10.56s, count=1, min=10560.4ms, max=10560.4ms + physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=41.1ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3835.8ms, max=3835.8ms + task_sampling: mean=1.19s, total=1.19s, count=1, min=1192.8ms, max=1192.8ms + task_specific_sample: mean=1.19s, total=1.19s, count=1, min=1188.5ms, max=1188.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:17:44 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:17:44 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:17:44 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes +[05/11 02:17:44 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5068.46s + House averages: + episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms + sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms + save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms + physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms + save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms + task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms + task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms + scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms + scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms + compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms + compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms + scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms + scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms + asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms + asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms + asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:17:44 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 02:17:44 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5068.46s + Worker averages: + episode_total: mean=152.46s, total=2744.33s, count=18, min=3036.4ms, max=220657.7ms + sensor_polling: mean=468.4ms, total=2035.82s, count=4346, min=374.1ms, max=946.3ms + save_trajectories: mean=9.28s, total=111.30s, count=12, min=7613.1ms, max=10945.9ms + physics_step: mean=22.5ms, total=97.60s, count=4346, min=13.7ms, max=122.1ms + save_batch_prep: mean=4.25s, total=51.04s, count=12, min=3784.8ms, max=5066.5ms + task_sampling: mean=680.4ms, total=12.25s, count=18, min=307.2ms, max=3759.5ms + task_specific_sample: mean=511.6ms, total=9.21s, count=18, min=304.6ms, max=1188.5ms + scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms + scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms + compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms + compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms + scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms + scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms + asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.6ms, total=46.7ms, count=18, min=1.1ms, max=7.3ms + asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms + asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + mj_forward_sync: mean=461.0us, total=8.3ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + policy_setup: mean=22.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:17:47 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 02:17:47 INFO pipeline.py:1491] Success count: 12, Total count: 13 +[05/11 02:17:47 INFO pipeline.py:1492] Success rate: 92.31% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_013 +========================================== diff --git a/fridge_7/chunk_013/shard_3_of_4.log b/fridge_7/chunk_013/shard_3_of_4.log index 20e8e4296436c731ee34686259876d3f5778c9b7..14ececc072e13598edec7c4516397f9703c1d080 100644 --- a/fridge_7/chunk_013/shard_3_of_4.log +++ b/fridge_7/chunk_013/shard_3_of_4.log @@ -1195,3 +1195,571 @@ ValueError: IK failed for pregrasp pose [05/11 01:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... [05/11 01:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp [05/11 01:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 01:59:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:59:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:59:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps +[05/11 01:59:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.402s, found feasible grasp: True +[05/11 01:59:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.928[deg] +[05/11 01:59:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:59:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:59:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:59:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:59:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:59:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:59:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:59:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:59:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) +[05/11 01:59:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:59:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:59:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082688m +[05/11 01:59:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:59:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:59:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:59:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94024171 0.96617682 0.0826884 ] yaw=-147.1deg +[05/11 01:59:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:59:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97057085 0.67192628 0.0826884 ] yaw=-172.6deg +[05/11 01:59:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:59:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88578268 0.49128565 0.0826884 ] yaw=-177.2deg +[05/11 01:59:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:59:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:59:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.2ms +[05/11 01:59:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.966, 0.083) +[05/11 01:59:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg +[05/11 01:59:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m +[05/11 01:59:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:59:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:59:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:59:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:59:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:59:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 01:59:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s +[05/11 01:59:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:59:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:59:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 01:59:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True +[05/11 01:59:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.439[m] 79.377[deg] +[05/11 01:59:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:59:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:00:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:00:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:02:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/11 02:02:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:02:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 02:02:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:02:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:02:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:02:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.79s (batch: 3.91s, save: 7.88s) +[05/11 02:02:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.80s: + episode_total: mean=162.09s, total=324.17s, count=2, min=146501.3ms, max=177670.4ms + sensor_polling: mean=455.4ms, total=242.30s, count=532, min=383.3ms, max=826.7ms + physics_step: mean=21.0ms, total=11.16s, count=532, min=13.3ms, max=78.4ms + save_trajectories: mean=7.88s, total=7.88s, count=1, min=7875.9ms, max=7875.9ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.2ms, max=3911.2ms + task_sampling: mean=398.2ms, total=796.4ms, count=2, min=385.3ms, max=411.1ms + task_specific_sample: mean=394.8ms, total=789.5ms, count=2, min=381.4ms, max=408.2ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms + mj_forward_sync: mean=435.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=14.8us, 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 +[05/11 02:02:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:02:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:02:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:02:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:02:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:02:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:02:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:02:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) +[05/11 02:02:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:02:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:02:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019786m +[05/11 02:02:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:02:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:02:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:02:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91040554 0.97664215 0.01978585] yaw=-151.5deg +[05/11 02:02:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:02:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96920041 1.18382702 0.01978585] yaw=-137.0deg +[05/11 02:02:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:02:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:02:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms +[05/11 02:02:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.977, 0.020) +[05/11 02:02:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg +[05/11 02:02:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m +[05/11 02:02:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:02:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:02:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:02:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:02:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:02:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s +[05/11 02:02:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:02:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:02:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:02:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.320s, found feasible grasp: True +[05/11 02:02:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.498[m] 88.305[deg] +[05/11 02:02:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:03:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:05:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 02:05:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:05:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 02:05:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:05:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:05:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:05:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.77s (batch: 3.90s, save: 7.87s) +[05/11 02:05:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s: + episode_total: mean=183.69s, total=183.69s, count=1, min=183689.9ms, max=183689.9ms + sensor_polling: mean=456.4ms, total=136.93s, count=300, min=386.2ms, max=956.0ms + save_trajectories: mean=7.87s, total=7.87s, count=1, min=7870.0ms, max=7870.0ms + physics_step: mean=22.0ms, total=6.59s, count=300, min=13.6ms, max=64.4ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.2ms, max=3896.2ms + task_sampling: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms + task_specific_sample: mean=530.4ms, total=530.4ms, count=1, min=530.4ms, max=530.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=380.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, 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 +[05/11 02:05:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:05:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:05:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:05:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:05:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:05:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:05:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:05:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) +[05/11 02:05:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:05:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:05:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026513m +[05/11 02:05:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:05:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:05:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:05:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70421075 0.21497112 0.02651289] yaw=176.3deg +[05/11 02:05:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:05:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:05:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82844029 0.73346053 0.02651289] yaw=-159.2deg +[05/11 02:05:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:05:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:05:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:05:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8928578 0.36604001 0.02651289] yaw=168.8deg +[05/11 02:05:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:05:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:05:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.7ms, total=100.7ms +[05/11 02:05:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.215, 0.027) +[05/11 02:05:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg +[05/11 02:05:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m +[05/11 02:05:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:05:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:05:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:05:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:05:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:05:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 02:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/11 02:05:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:05:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:05:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:06:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True +[05/11 02:06:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.562[m] 79.094[deg] +[05/11 02:06:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:06:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:07:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:08:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 02:08:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:08:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 02:08:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:09:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:09:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:09:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.68s (batch: 3.96s, save: 7.73s) +[05/11 02:09:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.35s: + episode_total: mean=183.89s, total=183.89s, count=1, min=183890.2ms, max=183890.2ms + sensor_polling: mean=454.8ms, total=136.43s, count=300, min=383.5ms, max=830.9ms + save_trajectories: mean=7.73s, total=7.73s, count=1, min=7725.0ms, max=7725.0ms + physics_step: mean=22.7ms, total=6.82s, count=300, min=13.6ms, max=57.4ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.1ms, max=3959.1ms + task_sampling: mean=351.3ms, total=351.3ms, count=1, min=351.3ms, max=351.3ms + task_specific_sample: mean=347.9ms, total=347.9ms, count=1, min=347.9ms, max=347.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=382.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:09:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:09:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:09:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:09:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:09:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:09:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:09:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:09:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) +[05/11 02:09:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:09:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:09:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004930m +[05/11 02:09:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:09:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:09:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:09:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01614377 0.16706538 0.00493024] yaw=150.1deg +[05/11 02:09:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:09:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01214421 0.150388 0.00493024] yaw=157.7deg +[05/11 02:09:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:09:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83070714 0.88286954 0.00493024] yaw=-152.5deg +[05/11 02:09:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:09:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:09:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.4ms, total=70.4ms +[05/11 02:09:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.167, 0.005) +[05/11 02:09:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg +[05/11 02:09:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.755m +[05/11 02:09:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:09:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:09:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:09:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:09:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:09:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 02:09:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s +[05/11 02:09:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:09:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:09:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps +[05/11 02:09:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True +[05/11 02:09:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.367[m] 102.007[deg] +[05/11 02:09:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:09:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:09:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:09:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:10:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:10:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:11:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:11:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:11:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps +[05/11 02:11:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.411s, found feasible grasp: True +[05/11 02:11:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.151[deg] +[05/11 02:11:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:11:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:11:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:11:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:11:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:11:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:11:42 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 02:11:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:11:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:11:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps +[05/11 02:11:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True +[05/11 02:11:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.811[deg] +[05/11 02:11:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:11:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:11:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:11:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:12:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:12:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 02:12:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:12:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 02:12:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:12:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:12:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:12:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.57s (batch: 3.98s, save: 7.59s) +[05/11 02:12:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.33s: + episode_total: mean=218.51s, total=218.51s, count=1, min=218513.5ms, max=218513.5ms + sensor_polling: mean=469.6ms, total=140.89s, count=300, min=408.0ms, max=816.1ms + save_trajectories: mean=7.59s, total=7.59s, count=1, min=7592.4ms, max=7592.4ms + physics_step: mean=21.1ms, total=6.33s, count=300, min=13.6ms, max=66.0ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.1ms, max=3979.1ms + task_sampling: mean=325.4ms, total=325.4ms, count=1, min=325.4ms, max=325.4ms + task_specific_sample: mean=322.0ms, total=322.0ms, count=1, min=322.0ms, max=322.0ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=386.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:12:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:12:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:12:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:12:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:12:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:12:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:12:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:12:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m) +[05/11 02:12:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:12:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:12:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044415m +[05/11 02:12:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:12:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:12:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77140581 0.05241508 0.04441512] yaw=152.8deg +[05/11 02:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92259071 1.08767172 0.04441512] yaw=-131.3deg +[05/11 02:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70458383 0.91251326 0.04441512] yaw=-147.9deg +[05/11 02:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:12:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:12:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms +[05/11 02:12:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.052, 0.044) +[05/11 02:12:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.8 deg +[05/11 02:12:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.025m +[05/11 02:12:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:12:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:12:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:12:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:12:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:12:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 02:12:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/11 02:12:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:12:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:12:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps +[05/11 02:12:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.243s, found feasible grasp: True +[05/11 02:12:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 14 (originally 14): w/ 0.603[m] 93.759[deg] +[05/11 02:12:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:14:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:15:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 02:15:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:15:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 02:15:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:15:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:15:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:15:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.09s (batch: 3.92s, save: 7.18s) +[05/11 02:15:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s: + episode_total: mean=186.71s, total=186.71s, count=1, min=186708.6ms, max=186708.6ms + sensor_polling: mean=473.2ms, total=141.97s, count=300, min=404.4ms, max=989.0ms + save_trajectories: mean=7.18s, total=7.18s, count=1, min=7175.8ms, max=7175.8ms + physics_step: mean=21.4ms, total=6.42s, count=300, min=16.7ms, max=58.3ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.7ms, max=3915.7ms + task_sampling: mean=439.9ms, total=439.9ms, count=1, min=439.9ms, max=439.9ms + task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=376.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:15:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:15:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:15:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:15:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) +[05/11 02:15:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:15:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:15:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059628m +[05/11 02:15:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:15:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:15:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07893819 0.90348727 0.05962831] yaw=-149.1deg +[05/11 02:15:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:15:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.4ms, total=166.4ms +[05/11 02:15:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.903, 0.060) +[05/11 02:15:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.1 deg +[05/11 02:15:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.753m +[05/11 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:15:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:15:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:15:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 02:15:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/11 02:15:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:15:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:15:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:15:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.605s, found feasible grasp: True +[05/11 02:15:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 85.769[deg] +[05/11 02:15:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:15:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:15:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:18:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 02:18:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:18:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 02:18:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps +[05/11 02:18:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:18:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:18:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.22s (batch: 3.79s, save: 7.43s) +[05/11 02:18:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s: + episode_total: mean=174.94s, total=174.94s, count=1, min=174943.0ms, max=174943.0ms + sensor_polling: mean=460.3ms, total=133.02s, count=289, min=385.9ms, max=722.4ms + save_trajectories: mean=7.43s, total=7.43s, count=1, min=7425.8ms, max=7425.8ms + physics_step: mean=21.7ms, total=6.28s, count=289, min=13.4ms, max=51.5ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3789.3ms, max=3789.3ms + task_sampling: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms + task_specific_sample: mean=450.4ms, total=450.4ms, count=1, min=450.4ms, max=450.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:18:49 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:18:49 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:18:49 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes +[05/11 02:18:49 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5141.37s + House averages: + episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms + sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms + save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms + physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms + save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms + task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms + task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms + scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms + scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms + compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms + compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms + scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms + compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:18:49 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 02:18:49 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5141.37s + Worker averages: + episode_total: mean=156.21s, total=2811.76s, count=18, min=2253.4ms, max=236323.7ms + sensor_polling: mean=471.8ms, total=2052.53s, count=4350, min=382.7ms, max=989.0ms + save_trajectories: mean=8.11s, total=97.33s, count=12, min=7175.8ms, max=8931.8ms + physics_step: mean=22.2ms, total=96.70s, count=4350, min=13.3ms, max=109.4ms + save_batch_prep: mean=4.46s, total=53.47s, count=12, min=3789.3ms, max=5425.7ms + task_sampling: mean=693.6ms, total=12.48s, count=18, min=325.4ms, max=4322.4ms + task_specific_sample: mean=488.8ms, total=8.80s, count=18, min=322.0ms, max=937.7ms + scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms + scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms + compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms + compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms + scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms + compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.2ms, max=3.3ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + mj_forward_sync: mean=656.5us, total=11.8ms, count=18, min=0.4ms, max=4.3ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:18:51 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 02:18:51 INFO pipeline.py:1491] Success count: 12, Total count: 12 +[05/11 02:18:51 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_013 +========================================== diff --git a/fridge_7/chunk_013/shard_4_of_4.log b/fridge_7/chunk_013/shard_4_of_4.log index 0cae954afe84229535964c79395ec3a58bbc6806..e7026e9660bf1b5cfd22cd30f5768cc35f3be94d 100644 --- a/fridge_7/chunk_013/shard_4_of_4.log +++ b/fridge_7/chunk_013/shard_4_of_4.log @@ -1171,3 +1171,595 @@ ValueError: Failed to place robot near object: Fridge_7_upside_down_root [05/11 01:58:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/11 01:58:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 01:58:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:00:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 02:00:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:00:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 02:00:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:00:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:00:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:00:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.36s (batch: 3.52s, save: 7.83s) +[05/11 02:01:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s: + episode_total: mean=92.34s, total=184.68s, count=2, min=216.0ms, max=184463.6ms + sensor_polling: mean=458.0ms, total=137.39s, count=300, min=403.5ms, max=922.0ms + save_trajectories: mean=7.83s, total=7.83s, count=1, min=7834.2ms, max=7834.2ms + physics_step: mean=21.0ms, total=6.29s, count=300, min=13.7ms, max=70.3ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3522.4ms, max=3522.4ms + task_specific_sample: mean=313.9ms, total=627.9ms, count=2, min=209.2ms, max=418.6ms + task_sampling: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms + task_sampling_failed: mean=216.0ms, total=216.0ms, count=1, min=216.0ms, max=216.0ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=529.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:01:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:01:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:01:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:01:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:01:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:01:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:01:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:01:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) +[05/11 02:01:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:01:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:01:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000024m +[05/11 02:01:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:01:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:01:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:01:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-7.79555963e-01 2.12117913e-01 2.41189598e-05] yaw=171.3deg +[05/11 02:01:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:01:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:01:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.67882690e-01 7.57167543e-01 2.41189598e-05] yaw=-160.8deg +[05/11 02:01:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:01:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.74121758e-01 4.09235639e-01 2.41189598e-05] yaw=176.6deg +[05/11 02:01:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:01:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:01:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.7ms, total=317.7ms +[05/11 02:01:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.212, 0.000) +[05/11 02:01:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg +[05/11 02:01:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.961m +[05/11 02:01:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:01:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:01:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:01:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:01:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:01:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 02:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s +[05/11 02:01:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:01:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:01:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps +[05/11 02:01:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.139s, found feasible grasp: True +[05/11 02:01:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.580[m] 100.009[deg] +[05/11 02:01:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:02:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:03:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 02:03:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:03:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 02:03:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:04:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:04:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:04:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 11.31s (batch: 3.70s, save: 7.61s) +[05/11 02:04:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s: + episode_total: mean=185.20s, total=185.20s, count=1, min=185196.0ms, max=185196.0ms + sensor_polling: mean=454.4ms, total=136.32s, count=300, min=388.3ms, max=845.9ms + save_trajectories: mean=7.61s, total=7.61s, count=1, min=7613.2ms, max=7613.2ms + physics_step: mean=22.3ms, total=6.68s, count=300, min=16.9ms, max=81.4ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3695.8ms, max=3695.8ms + task_sampling: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms + task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:04:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:04:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:04:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:04:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:04:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:04:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:04:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:04:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) +[05/11 02:04:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:04:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:04:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086768m +[05/11 02:04:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:04:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:04:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:04:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:04:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:04:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93860989 0.80077422 0.08676849] yaw=-161.9deg +[05/11 02:04:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:04:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.171801 1.03965258 0.08676849] yaw=-128.1deg +[05/11 02:04:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:04:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:04:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96746457 0.18159077 0.08676849] yaw=147.2deg +[05/11 02:04:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:04:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:04:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.9ms, total=144.0ms +[05/11 02:04:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.801, 0.087) +[05/11 02:04:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg +[05/11 02:04:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m +[05/11 02:04:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:04:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:04:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:04:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:04:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:04:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 02:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s +[05/11 02:04:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:04:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps +[05/11 02:04:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True +[05/11 02:04:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.405[m] 89.680[deg] +[05/11 02:04:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:04:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:05:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:06:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/11 02:06:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:06:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 02:06:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:07:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:07:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:07:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.25s, save: 8.26s) +[05/11 02:07:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s: + episode_total: mean=183.16s, total=183.16s, count=1, min=183160.7ms, max=183160.7ms + sensor_polling: mean=455.7ms, total=136.72s, count=300, min=400.4ms, max=805.3ms + save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.2ms, max=8261.2ms + physics_step: mean=21.1ms, total=6.33s, count=300, min=14.2ms, max=58.2ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.0ms, max=4252.0ms + task_sampling: mean=413.3ms, total=413.3ms, count=1, min=413.3ms, max=413.3ms + task_specific_sample: mean=409.6ms, total=409.6ms, count=1, min=409.6ms, max=409.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=528.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.5us, 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 +[05/11 02:07:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:07:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:07:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:07:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:07:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:07:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:07:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:07:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) +[05/11 02:07:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:07:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:07:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060473m +[05/11 02:07:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:07:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:07:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93788413 0.92110969 0.06047299] yaw=-145.9deg +[05/11 02:07:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:07:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99726076 0.81941412 0.06047299] yaw=-156.1deg +[05/11 02:07:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:07:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65390642 0.33703063 0.06047299] yaw=180.3deg +[05/11 02:07:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:07:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:07:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms +[05/11 02:07:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.921, 0.060) +[05/11 02:07:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg +[05/11 02:07:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m +[05/11 02:07:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:07:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:07:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:07:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:07:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:07:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s +[05/11 02:07:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:07:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:07:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps +[05/11 02:07:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True +[05/11 02:07:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 85.709[deg] +[05/11 02:07:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:08:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:08:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:09:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 02:10:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:10:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 02:10:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:10:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:10:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:10:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.48s (batch: 3.91s, save: 11.57s) +[05/11 02:10:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s: + episode_total: mean=182.15s, total=182.15s, count=1, min=182152.2ms, max=182152.2ms + sensor_polling: mean=453.9ms, total=136.16s, count=300, min=395.6ms, max=746.5ms + save_trajectories: mean=11.57s, total=11.57s, count=1, min=11567.6ms, max=11567.6ms + physics_step: mean=21.0ms, total=6.30s, count=300, min=16.9ms, max=49.5ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.3ms, max=3909.3ms + task_sampling: mean=435.4ms, total=435.4ms, count=1, min=435.4ms, max=435.4ms + task_specific_sample: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=726.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:10:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:10:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:10:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:10:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) +[05/11 02:10:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:10:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:10:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065793m +[05/11 02:10:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:10:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:10:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91874926 0.53316048 0.06579291] yaw=-180.9deg +[05/11 02:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:10:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:10:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.4ms, total=164.4ms +[05/11 02:10:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.533, 0.066) +[05/11 02:10:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg +[05/11 02:10:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.785m +[05/11 02:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:10:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:10:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 02:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/11 02:10:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:10:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:10:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps +[05/11 02:10:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.430s, found feasible grasp: True +[05/11 02:10:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.360[m] 87.138[deg] +[05/11 02:10:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:11:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:12:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 02:13:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:13:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 02:13:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps +[05/11 02:13:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:13:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 02:13:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.22s (batch: 3.75s, save: 9.47s) +[05/11 02:13:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.41s: + episode_total: mean=183.47s, total=183.47s, count=1, min=183472.3ms, max=183472.3ms + sensor_polling: mean=460.3ms, total=134.87s, count=293, min=402.7ms, max=1042.2ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9470.1ms, max=9470.1ms + physics_step: mean=23.1ms, total=6.76s, count=293, min=14.4ms, max=86.2ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3746.7ms, max=3746.7ms + task_sampling: mean=408.7ms, total=408.7ms, count=1, min=408.7ms, max=408.7ms + task_specific_sample: mean=405.3ms, total=405.3ms, count=1, min=405.3ms, max=405.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:13:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:13:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:13:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:13:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:13:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:13:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:13:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:13:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) +[05/11 02:13:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:13:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:13:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034407m +[05/11 02:13:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:13:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:13:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:13:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12066675 0.97592577 0.03440719] yaw=-141.2deg +[05/11 02:13:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:13:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:13:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=655.3ms, total=655.4ms +[05/11 02:13:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.121, 0.976, 0.034) +[05/11 02:13:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg +[05/11 02:13:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.763m +[05/11 02:13:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:13:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:13:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:13:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:13:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:13:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 02:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s +[05/11 02:13:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:13:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:13:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps +[05/11 02:13:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True +[05/11 02:13:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.326[m] 80.999[deg] +[05/11 02:13:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:13:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:15:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:15:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:15:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:15:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:15:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:15:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:15:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:15:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps +[05/11 02:15:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.493s, found feasible grasp: True +[05/11 02:15:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.353[deg] +[05/11 02:15:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:15:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:15:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:15:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:15:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:15:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:15:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:15:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:15:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) +[05/11 02:15:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:15:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:15:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053524m +[05/11 02:15:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:15:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:15:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:54 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=158.6ms, total=158.6ms +[05/11 02:15:54 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house + task = runner_class.sample_task_from_spec( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec + return task_sampler.sample_task(house_index=house_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task + task = self._sample_task(self.env) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task + self._sample_and_place_robot(env) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot + raise ValueError(f"Failed to place robot near object: {pickup_obj.name}") +ValueError: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 02:15:54 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 02:15:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:15:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:15:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:15:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) +[05/11 02:15:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:15:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:15:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046928m +[05/11 02:15:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:15:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:15:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93058141 0.39720608 0.04692755] yaw=163.1deg +[05/11 02:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88668265 1.09387563 0.04692755] yaw=-144.7deg +[05/11 02:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00789682 1.09355059 0.04692755] yaw=-135.9deg +[05/11 02:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:15:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:15:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.5ms, total=109.5ms +[05/11 02:15:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.047) +[05/11 02:15:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg +[05/11 02:15:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m +[05/11 02:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:15:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:15:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 02:15:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s +[05/11 02:15:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:15:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:15:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps +[05/11 02:15:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.427s, found feasible grasp: True +[05/11 02:15:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.333[m] 86.966[deg] +[05/11 02:15:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:16:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:16:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:17:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:17:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:17:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:17:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps +[05/11 02:17:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.878s, found feasible grasp: True +[05/11 02:17:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg] +[05/11 02:17:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:17:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:17:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_013 +[05/11 02:17:42 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/10 successful episodes +[05/11 02:17:42 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5052.42s + House averages: + episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms + sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms + physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms + save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms + save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms + task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms + task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms + scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms + compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms + task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms + compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms + scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms + scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms + compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms + scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms + mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms + compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms + asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:17:42 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 02:17:42 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5052.42s + Worker averages: + episode_total: mean=152.32s, total=2741.72s, count=18, min=168.3ms, max=233216.6ms + sensor_polling: mean=474.2ms, total=2055.56s, count=4335, min=379.3ms, max=1049.2ms + physics_step: mean=22.5ms, total=97.44s, count=4335, min=13.6ms, max=92.3ms + save_trajectories: mean=8.96s, total=89.64s, count=10, min=7613.2ms, max=11567.6ms + save_batch_prep: mean=4.04s, total=40.42s, count=10, min=3522.4ms, max=4670.4ms + task_sampling: mean=697.0ms, total=11.15s, count=16, min=344.1ms, max=3979.6ms + task_specific_sample: mean=447.3ms, total=8.05s, count=18, min=163.0ms, max=989.3ms + scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms + compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms + task_sampling_failed: mean=192.1ms, total=384.3ms, count=2, min=168.3ms, max=216.0ms + compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms + scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms + scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms + compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms + scene_randomize: mean=2.2ms, total=38.7ms, count=18, min=1.2ms, max=3.6ms + asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms + mj_forward_sync: mean=719.8us, total=13.0ms, count=18, min=0.4ms, max=4.6ms + compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms + asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + policy_setup: mean=18.7us, total=0.3ms, count=16, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 02:17:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 02:17:45 INFO pipeline.py:1491] Success count: 10, Total count: 10 +[05/11 02:17:45 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. 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+ -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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21401, + '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 02:21:35 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 02:21:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 02:21:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 02:21:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 02:21:35 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 02:21:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 02:21:35 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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21403, + '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 02:21:35 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 02:21:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 02:21:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 02:21:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 02:21:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 02:21:36 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 02:21:36 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 02:21:36 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 02:21:36 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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21404, + '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 02:21:36 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 02:21:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 02:21:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 02:21:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 02:21:36 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 02:21:36 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 02:21:36 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 02:21:36 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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21402, + '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 02:21:36 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 02:21:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 02:21:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 02:21:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 02:21:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 02:21:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 02:21:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 02:21:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 02:21:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 02:21:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 02:21:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:21:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:21:38 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 02:21:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:21:38 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 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006254m [env.py: 870] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:21:38 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 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83598799 0.77003849 0.00625384] yaw=-161.6deg [env.py: 1019] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78380528 0.15157504 0.00625384] yaw=169.3deg [env.py: 1019] +05/11 02:21:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90803158 1.05521122 0.00625384] yaw=-152.5deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=152.2ms, total=166.4ms [env.py: 1075] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.770, 0.006) [env.py: 1079] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg [env.py: 1082] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 02:21:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 02:21:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:21:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:21:39 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 02:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:21:39 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 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013416m [env.py: 870] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:21:39 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 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69721468 0.10266618 0.01341643] yaw=167.0deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:21:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:21:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80623151 1.05066672 0.01341643] yaw=-153.0deg [env.py: 1019] +05/11 02:21:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 02:21:39 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01906921 1.25750828 0.01341643] yaw=-122.1deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=42.8ms, retries=200.3ms, total=243.2ms [env.py: 1075] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.103, 0.013) [env.py: 1079] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg [env.py: 1082] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 02:21:39 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 02:21:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 02:21:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 02:21:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:21:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:21:39 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 02:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:21:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023323m [env.py: 870] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:21:39 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 02:21:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 02:21:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 02:21:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:21:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:21:39 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 02:21:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:21:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054232m [env.py: 870] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:21:39 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 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7266121 0.36617649 0.02332285] yaw=180.9deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69300933 0.2800372 0.05423242] yaw=160.5deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:21:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:21:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88435463 0.8255364 0.05423242] yaw=-148.1deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90941967 0.54402711 0.05423242] yaw=-169.2deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=15.9ms, retries=181.0ms, total=196.9ms [env.py: 1075] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.280, 0.054) [env.py: 1079] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg [env.py: 1082] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04214117 1.21163419 0.02332285] yaw=-130.3deg [env.py: 1019] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83310058 0.7783996 0.02332285] yaw=-163.7deg [env.py: 1019] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:21:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=22.1ms, retries=264.0ms, total=286.2ms [env.py: 1075] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.366, 0.023) [env.py: 1079] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg [env.py: 1082] +05/11 02:21:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:21:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:21:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:21:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 02:21:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:21:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 02:22:02 INFO: [Worker 0] Warmed up parallel IK solver in 23.193s [base_object_manipulation_planner_policy.py: 377] +05/11 02:22:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:22:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:22:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:22:03 INFO: [Worker 0] Warmed up parallel IK solver in 24.642s [base_object_manipulation_planner_policy.py: 377] +05/11 02:22:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:22:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 24.042s [base_object_manipulation_planner_policy.py: 377] +05/11 02:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 24.510s [base_object_manipulation_planner_policy.py: 377] +05/11 02:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.050s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 82.251[deg] [grasp_sample.py: 539] +05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.610[m] 95.830[deg] [grasp_sample.py: 539] +05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.595s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 91.126[deg] [grasp_sample.py: 539] +05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:22:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:22:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.898s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:22:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.549[m] 90.079[deg] [grasp_sample.py: 539] +05/11 02:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:22:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:22:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:22:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:22:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:22:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:22:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:22:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:22:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:22:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:22:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:23:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:23:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:23:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:23:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:23:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:23:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:23:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:23:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:23:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:23:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:23:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:23:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:23:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:23:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.081s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:23:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.308[deg] [grasp_sample.py: 539] +05/11 02:23:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:23:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:23:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:23:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:24:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:24:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:24:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:24:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:24:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:24:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:24:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:24:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.452s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:24:29 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.957[deg] [grasp_sample.py: 539] +05/11 02:24:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:24:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:24:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:24:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:24:33 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:24:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:24:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:24:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:24:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:24:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 02:24:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:24:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:24:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:24:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps [grasp_sample.py: 465] +05/11 02:24:50 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.189s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:24:50 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.422[deg] [grasp_sample.py: 539] +05/11 02:24:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:24:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:24:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:24:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:24:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:24:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:24:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:24:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:24:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:24:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:24:58 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 02:24:58 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.24s: + episode_total: mean=201.30s, total=201.30s, count=1, min=201301.4ms, max=201301.4ms + sensor_polling: mean=445.0ms, total=133.50s, count=300, min=377.0ms, max=696.5ms + physics_step: mean=19.9ms, total=5.96s, count=300, min=12.6ms, max=45.3ms + task_sampling: mean=3.24s, total=3.24s, count=1, min=3236.2ms, max=3236.2ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms + scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms + scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms + compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms + task_specific_sample: mean=441.0ms, total=441.0ms, count=1, min=441.0ms, max=441.0ms + compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms + scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms + compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms + asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=417.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:24:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:24:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:24:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:24:59 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 02:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:24:59 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 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072221m [env.py: 870] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84476854 0.98224384 0.07222075] yaw=-161.1deg [env.py: 1019] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82597604 0.2837376 0.07222075] yaw=157.0deg [env.py: 1019] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.6ms [env.py: 1075] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.982, 0.072) [env.py: 1079] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg [env.py: 1082] +05/11 02:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:25:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:25:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 02:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 02:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:25:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:25:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:25:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.221s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:25:02 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.592[m] 73.718[deg] [grasp_sample.py: 539] +05/11 02:25:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:25:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:25:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:25:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:25:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:25:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.77s (batch: 3.92s, save: 7.85s) [pipeline.py: 300] +05/11 02:25:04 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.94s: + episode_total: mean=209.30s, total=209.30s, count=1, min=209300.8ms, max=209300.8ms + sensor_polling: mean=460.5ms, total=138.14s, count=300, min=390.3ms, max=845.4ms + save_trajectories: mean=7.85s, total=7.85s, count=1, min=7848.1ms, max=7848.1ms + physics_step: mean=22.1ms, total=6.64s, count=300, min=16.8ms, max=65.5ms + task_sampling: mean=3.94s, total=3.94s, count=1, min=3935.3ms, max=3935.3ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.9ms, max=3921.9ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms + compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + task_specific_sample: mean=443.3ms, total=443.3ms, count=1, min=443.3ms, max=443.3ms + compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms + compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms + asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms + mj_forward_sync: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + policy_setup: mean=42.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:25:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:25:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:25:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.78s (batch: 4.03s, save: 7.75s) [pipeline.py: 300] +05/11 02:25:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.02s: + episode_total: mean=210.33s, total=210.33s, count=1, min=210325.4ms, max=210325.4ms + sensor_polling: mean=461.6ms, total=138.48s, count=300, min=389.0ms, max=749.3ms + save_trajectories: mean=7.75s, total=7.75s, count=1, min=7748.4ms, max=7748.4ms + physics_step: mean=23.4ms, total=7.01s, count=300, min=16.9ms, max=62.0ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.5ms, max=4029.5ms + task_sampling: mean=4.02s, total=4.02s, count=1, min=4017.8ms, max=4017.8ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms + scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms + compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms + task_specific_sample: mean=587.4ms, total=587.4ms, count=1, min=587.4ms, max=587.4ms + scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms + compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms + compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + mj_forward_sync: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=42.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:25:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:25:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:25:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:25:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:25:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:25:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:25:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:25:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:25:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:25:06 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 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095102m [env.py: 870] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:25:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88156688 0.15260032 0.09510248] yaw=161.1deg [env.py: 1019] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76970217 0.4470166 0.09510248] yaw=167.4deg [env.py: 1019] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9531869 0.78017159 0.09510248] yaw=-163.2deg [env.py: 1019] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:25:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.1ms [env.py: 1075] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.153, 0.095) [env.py: 1079] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg [env.py: 1082] +05/11 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:25:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:25:06 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 02:25:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 02:25:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:25:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:25:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:25:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:25:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.472[m] 99.496[deg] [grasp_sample.py: 539] +05/11 02:25:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:25:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:25:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:25:07 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 02:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039435m [env.py: 870] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93086443 0.58635552 0.0394351 ] yaw=-163.6deg [env.py: 1019] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18172693 1.12962116 0.0394351 ] yaw=-131.4deg [env.py: 1019] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.73843347 0.63843656 0.0394351 ] yaw=-171.2deg [env.py: 1019] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.0ms, total=182.1ms [env.py: 1075] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.586, 0.039) [env.py: 1079] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg [env.py: 1082] +05/11 02:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m [env.py: 1086] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:25:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:25:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:25:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:25:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 02:25:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 02:25:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:25:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:25:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:25:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:25:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.308[m] 83.040[deg] [grasp_sample.py: 539] +05/11 02:25:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:25:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:25:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:25:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:25:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:25:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 4.04s, save: 9.47s) [pipeline.py: 300] +05/11 02:25:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.12s: + episode_total: mean=224.19s, total=224.19s, count=1, min=224189.0ms, max=224189.0ms + sensor_polling: mean=462.0ms, total=138.61s, count=300, min=399.2ms, max=713.3ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9467.6ms, max=9467.6ms + physics_step: mean=21.3ms, total=6.40s, count=300, min=16.5ms, max=56.1ms + task_sampling: mean=4.12s, total=4.12s, count=1, min=4119.6ms, max=4119.6ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4043.8ms, max=4043.8ms + scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms + scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms + compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms + task_specific_sample: mean=662.0ms, total=662.0ms, count=1, min=662.0ms, max=662.0ms + compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms + scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms + scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms + compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=695.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=51.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/11 02:25:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:25:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:25:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:25:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:25:21 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 02:25:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:25:21 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 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014185m [env.py: 870] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:25:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82171138 0.81580547 0.01418464] yaw=-152.8deg [env.py: 1019] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95659678 1.09017723 0.01418464] yaw=-146.1deg [env.py: 1019] +05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89995895 1.12767956 0.01418464] yaw=-146.9deg [env.py: 1019] +05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:25:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.3ms, total=174.3ms [env.py: 1075] +05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.816, 0.014) [env.py: 1079] +05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg [env.py: 1082] +05/11 02:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:25:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:25:22 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 02:25:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 02:25:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:25:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:25:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:25:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:25:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.515[m] 89.867[deg] [grasp_sample.py: 539] +05/11 02:25:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:25:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:25:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:25:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:25:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:25:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:25:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:25:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:26:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:26:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:26:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:26:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:26:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:26:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:26:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:27:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:27:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:27:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:27:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:27:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:27:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.487s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:27:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.513[deg] [grasp_sample.py: 539] +05/11 02:27:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:27:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:27:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:27:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:27:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:27:18 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 02:27:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:27:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016693m [env.py: 870] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:27:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8933712 0.45328484 0.01669323] yaw=179.4deg [env.py: 1019] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94479764 0.41826438 0.01669323] yaw=177.6deg [env.py: 1019] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67350964 0.14058239 0.01669323] yaw=165.0deg [env.py: 1019] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:27:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.6ms [env.py: 1075] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.453, 0.017) [env.py: 1079] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg [env.py: 1082] +05/11 02:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:27:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:27:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 02:27:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/11 02:27:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:27:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:27:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:27:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.412s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:27:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.356[m] 86.610[deg] [grasp_sample.py: 539] +05/11 02:27:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:27:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:27:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:27:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:27:30 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:27:47 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:27:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:27:47 INFO: [Worker 0] Preparing episode data: 283 timesteps [save_utils.py: 278] +05/11 02:27:47 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:27:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:27:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:27:49 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:27:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:27:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:27:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:27:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 10.77s (batch: 3.45s, save: 7.32s) [pipeline.py: 300] +05/11 02:27:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:27:59 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s: + episode_total: mean=171.49s, total=171.49s, count=1, min=171491.8ms, max=171491.8ms + sensor_polling: mean=466.4ms, total=131.53s, count=282, min=391.0ms, max=761.7ms + save_trajectories: mean=7.32s, total=7.32s, count=1, min=7320.6ms, max=7320.6ms + physics_step: mean=22.6ms, total=6.37s, count=282, min=13.9ms, max=60.6ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3453.3ms, max=3453.3ms + task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms + task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=869.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + policy_setup: mean=20.8us, 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 02:27:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:27:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:27:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.51s (batch: 4.14s, save: 7.37s) [pipeline.py: 300] +05/11 02:27:59 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s: + episode_total: mean=180.27s, total=180.27s, count=1, min=180273.2ms, max=180273.2ms + sensor_polling: mean=452.6ms, total=135.78s, count=300, min=372.3ms, max=833.7ms + save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.4ms, max=7368.4ms + physics_step: mean=21.0ms, total=6.30s, count=300, min=13.9ms, max=50.2ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.7ms, max=4142.7ms + task_sampling: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms + task_specific_sample: mean=414.7ms, total=414.7ms, count=1, min=414.7ms, max=414.7ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=377.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.1us, 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 02:28:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:28:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:28:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:28:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:28:00 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 02:28:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:28:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003502m [env.py: 870] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:28:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76730007 0.59920733 0.00350183] yaw=-177.2deg [env.py: 1019] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:28:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms [env.py: 1075] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.599, 0.004) [env.py: 1079] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg [env.py: 1082] +05/11 02:28:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:28:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:28:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:28:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 02:28:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 02:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:28:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:28:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:28:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:28:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:28:01 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 02:28:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:28:01 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 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087004m [env.py: 870] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:28:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75258192 0.50092627 0.0870044 ] yaw=-170.4deg [env.py: 1019] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74706423 0.3895745 0.0870044 ] yaw=163.3deg [env.py: 1019] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85598613 0.22216448 0.0870044 ] yaw=152.3deg [env.py: 1019] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:28:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.3ms [env.py: 1075] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.501, 0.087) [env.py: 1079] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg [env.py: 1082] +05/11 02:28:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:28:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:28:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:28:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.480[m] 81.781[deg] [grasp_sample.py: 539] +05/11 02:28:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:28:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:28:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 02:28:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 02:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:28:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:28:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:28:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:28:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 76.426[deg] [grasp_sample.py: 539] +05/11 02:28:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:28:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:28:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:28:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:28:07 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:28:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:28:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:28:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:28:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:28:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.01s (batch: 3.62s, save: 9.39s) [pipeline.py: 300] +05/11 02:28:20 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s: + episode_total: mean=179.03s, total=179.03s, count=1, min=179026.3ms, max=179026.3ms + sensor_polling: mean=456.5ms, total=136.95s, count=300, min=389.3ms, max=731.4ms + save_trajectories: mean=9.39s, total=9.39s, count=1, min=9392.6ms, max=9392.6ms + physics_step: mean=20.9ms, total=6.27s, count=300, min=16.3ms, max=54.1ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3621.9ms, max=3621.9ms + task_sampling: mean=411.1ms, total=411.1ms, count=1, min=411.1ms, max=411.1ms + task_specific_sample: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms + scene_randomize: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms + mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.2us, 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 02:28:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:28:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:28:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:28:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:28:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:28:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:28:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053803m [env.py: 870] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:28:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98911871 1.08409145 0.05380325] yaw=-133.5deg [env.py: 1019] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6849669 0.57716772 0.05380325] yaw=-173.9deg [env.py: 1019] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62339229 0.59432756 0.05380325] yaw=-169.1deg [env.py: 1019] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:28:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.3ms [env.py: 1075] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.084, 0.054) [env.py: 1079] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg [env.py: 1082] +05/11 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:28:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:28:22 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 02:28:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 02:28:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:28:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:28:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:28:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.067s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:28:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 83.804[deg] [grasp_sample.py: 539] +05/11 02:28:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:28:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:28:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:28:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:28:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:28:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:28:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:29:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:29:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:29:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:29:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:29:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:29:34 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 02:29:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:29:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:29:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:29:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:29:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.434s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:29:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.181[deg] [grasp_sample.py: 539] +05/11 02:29:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:29:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:29:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:29:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:29:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:30:08 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:30:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:30:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:30:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:30:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:30:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.04s (batch: 3.85s, save: 9.19s) [pipeline.py: 300] +05/11 02:30:22 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.68s: + episode_total: mean=156.91s, total=313.81s, count=2, min=130150.6ms, max=183663.1ms + sensor_polling: mean=457.3ms, total=243.28s, count=532, min=372.4ms, max=890.7ms + physics_step: mean=23.2ms, total=12.32s, count=532, min=14.3ms, max=58.7ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9185.7ms, max=9185.7ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms + task_sampling: mean=337.9ms, total=675.7ms, count=2, min=311.7ms, max=364.1ms + task_specific_sample: mean=334.3ms, total=668.6ms, count=2, min=308.1ms, max=360.5ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms + mj_forward_sync: mean=475.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=19.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:30:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:30:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:30:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:30:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:30:23 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 02:30:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:30:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098463m [env.py: 870] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:30:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=160.4ms, total=160.5ms [env.py: 1105] +05/11 02:30:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 02:30:24 ERROR: [Worker 0] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 02:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:30:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:30:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:30:25 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 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005358m [env.py: 870] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89992377 0.43340667 0.00535837] yaw=166.9deg [env.py: 1019] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70849238 0.4744366 0.00535837] yaw=182.9deg [env.py: 1019] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=214.0ms [env.py: 1075] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.433, 0.005) [env.py: 1079] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg [env.py: 1082] +05/11 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:30:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:30:26 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 02:30:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 02:30:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:30:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:30:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:30:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:30:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.361[m] 85.675[deg] [grasp_sample.py: 539] +05/11 02:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:30:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:30:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:31 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:30:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:30:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:30:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:30:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:30:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.492s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:30:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.169[deg] [grasp_sample.py: 539] +05/11 02:30:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:30:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:30:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:49 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:30:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:30:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:30:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:30:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:30:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:30:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:30:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:30:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:30:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.393s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:30:52 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.533[deg] [grasp_sample.py: 539] +05/11 02:30:53 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:30:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:30:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:30:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:30:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:30:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:30:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:30:55 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 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030251m [env.py: 870] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:30:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07400456 0.90703004 0.03025106] yaw=-155.5deg [env.py: 1019] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.783973 0.44205729 0.03025106] yaw=176.4deg [env.py: 1019] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96821675 0.2777833 0.03025106] yaw=169.4deg [env.py: 1019] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:30:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.6ms, total=80.6ms [env.py: 1075] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.907, 0.030) [env.py: 1079] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg [env.py: 1082] +05/11 02:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m [env.py: 1086] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:30:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:30:55 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 02:30:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 02:30:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:30:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:30:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:30:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:30:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.343[m] 88.262[deg] [grasp_sample.py: 539] +05/11 02:30:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:30:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:30:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:30:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:30:59 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:31:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:31:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:31:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.62s (batch: 3.83s, save: 7.80s) [pipeline.py: 300] +05/11 02:31:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s: + episode_total: mean=181.65s, total=181.65s, count=1, min=181652.1ms, max=181652.1ms + sensor_polling: mean=462.9ms, total=138.88s, count=300, min=391.5ms, max=765.7ms + save_trajectories: mean=7.80s, total=7.80s, count=1, min=7797.2ms, max=7797.2ms + physics_step: mean=23.5ms, total=7.04s, count=300, min=13.5ms, max=55.7ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3825.9ms, max=3825.9ms + task_sampling: mean=474.8ms, total=474.8ms, count=1, min=474.8ms, max=474.8ms + task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=380.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:31:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:31:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:31:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:31:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:31:03 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 02:31:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:31:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032261m [env.py: 870] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:31:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98235051 0.81034716 0.03226122] yaw=-144.5deg [env.py: 1019] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65658847 0.24548117 0.03226122] yaw=162.4deg [env.py: 1019] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:31:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.2ms [env.py: 1075] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.810, 0.032) [env.py: 1079] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg [env.py: 1082] +05/11 02:31:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m [env.py: 1086] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:31:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:31:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:31:04 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 02:31:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 02:31:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:31:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:31:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:31:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:31:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.312[m] 77.746[deg] [grasp_sample.py: 539] +05/11 02:31:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:31:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:31:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:31:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:31:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:31:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:31:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:31:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:31:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:31:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:31:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:31:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:31:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.76s (batch: 4.00s, save: 7.76s) [pipeline.py: 300] +05/11 02:31:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.32s: + episode_total: mean=211.66s, total=211.66s, count=1, min=211661.5ms, max=211661.5ms + sensor_polling: mean=462.0ms, total=138.59s, count=300, min=388.5ms, max=902.2ms + save_trajectories: mean=7.76s, total=7.76s, count=1, min=7758.7ms, max=7758.7ms + physics_step: mean=20.9ms, total=6.26s, count=300, min=13.1ms, max=43.2ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3999.4ms, max=3999.4ms + task_sampling: mean=319.3ms, total=319.3ms, count=1, min=319.3ms, max=319.3ms + task_specific_sample: mean=315.7ms, total=315.7ms, count=1, min=315.7ms, max=315.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=364.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:31:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:31:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:31:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:31:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:31:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:31:34 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 02:31:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:31:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079612m [env.py: 870] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:31:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78420299 0.63615305 0.0796125 ] yaw=-180.6deg [env.py: 1019] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13737818 1.08059659 0.0796125 ] yaw=-134.8deg [env.py: 1019] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06079922 0.93984719 0.0796125 ] yaw=-149.5deg [env.py: 1019] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:31:34 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 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.636, 0.080) [env.py: 1079] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.6 deg [env.py: 1082] +05/11 02:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:31:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:31:35 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 02:31:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 02:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:31:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:31:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:31:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:31:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.460[m] 84.036[deg] [grasp_sample.py: 539] +05/11 02:31:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:31:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:31:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:31:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:31:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:31:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:32:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:32:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:32:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:32:49 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:33:14 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:33:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:33:14 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/11 02:33:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:33:24 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:33:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:33:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.17s (batch: 3.82s, save: 8.35s) [pipeline.py: 300] +05/11 02:33:27 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s: + episode_total: mean=90.82s, total=181.63s, count=2, min=177.3ms, max=181455.7ms + sensor_polling: mean=454.2ms, total=132.62s, count=292, min=385.7ms, max=966.6ms + save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.0ms, max=8350.0ms + physics_step: mean=22.6ms, total=6.59s, count=292, min=13.4ms, max=44.0ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3816.5ms, max=3816.5ms + task_specific_sample: mean=334.7ms, total=669.4ms, count=2, min=167.7ms, max=501.7ms + task_sampling: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms + task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=483.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:33:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:33:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:33:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:33:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:33:28 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 02:33:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:33:28 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 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023149m [env.py: 870] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:33:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90217044 0.73016441 0.02314857] yaw=-174.0deg [env.py: 1019] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91349004 0.40464552 0.02314857] yaw=184.3deg [env.py: 1019] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79433098 0.37628759 0.02314857] yaw=177.6deg [env.py: 1019] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:33:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.0ms, total=93.0ms [env.py: 1075] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.730, 0.023) [env.py: 1079] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg [env.py: 1082] +05/11 02:33:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m [env.py: 1086] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:33:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:33:28 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 02:33:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 02:33:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:33:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:33:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:33:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:33:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 87.525[deg] [grasp_sample.py: 539] +05/11 02:33:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:33:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:33:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:33:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:33:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:33:40 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/11 02:33:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:33:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:33:45 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/11 02:33:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:33:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:33:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.64s (batch: 3.95s, save: 7.69s) [pipeline.py: 300] +05/11 02:33:52 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s: + episode_total: mean=164.45s, total=328.91s, count=2, min=151377.0ms, max=177531.6ms + sensor_polling: mean=451.0ms, total=261.59s, count=580, min=381.3ms, max=890.1ms + physics_step: mean=21.0ms, total=12.20s, count=580, min=13.6ms, max=66.9ms + save_trajectories: mean=7.69s, total=7.69s, count=1, min=7687.3ms, max=7687.3ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.5ms, max=3949.5ms + task_sampling: mean=377.2ms, total=754.4ms, count=2, min=303.2ms, max=451.3ms + task_specific_sample: mean=374.1ms, total=748.2ms, count=2, min=300.3ms, max=447.8ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms + mj_forward_sync: mean=376.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.6us, 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 02:33:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:33:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:33:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:33:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:33:54 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 02:33:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:33:54 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 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093887m [env.py: 870] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:33:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86813067 0.03715406 0.09388653] yaw=143.6deg [env.py: 1019] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02167961 1.31369819 0.09388653] yaw=-135.7deg [env.py: 1019] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62939702 0.68539731 0.09388653] yaw=-163.2deg [env.py: 1019] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:33:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.2ms, total=100.2ms [env.py: 1075] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.037, 0.094) [env.py: 1079] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.6 deg [env.py: 1082] +05/11 02:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:33:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:33:54 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 02:33:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 02:33:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:33:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:33:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:33:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:33:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 92.453[deg] [grasp_sample.py: 539] +05/11 02:33:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:33:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:33:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.01s (batch: 3.77s, save: 7.24s) [pipeline.py: 300] +05/11 02:33:57 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s: + episode_total: mean=173.80s, total=173.80s, count=1, min=173802.0ms, max=173802.0ms + sensor_polling: mean=461.9ms, total=130.70s, count=283, min=389.2ms, max=910.9ms + save_trajectories: mean=7.24s, total=7.24s, count=1, min=7239.7ms, max=7239.7ms + physics_step: mean=21.9ms, total=6.20s, count=283, min=14.1ms, max=57.6ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3765.3ms, max=3765.3ms + task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms + task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=385.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:33:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:33:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:33:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:33:59 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 02:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064566m [env.py: 870] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93896747 0.37630092 0.06456601] yaw=163.2deg [env.py: 1019] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83351412 0.86076288 0.06456601] yaw=-158.0deg [env.py: 1019] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95518204 0.74435562 0.06456601] yaw=-151.2deg [env.py: 1019] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms [env.py: 1075] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.376, 0.065) [env.py: 1079] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg [env.py: 1082] +05/11 02:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m [env.py: 1086] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:33:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:33:59 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 02:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/11 02:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:33:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:34:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:34:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 93.006[deg] [grasp_sample.py: 539] +05/11 02:34:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:34:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:34:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:34:04 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:34:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:34:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:34:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:34:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:34:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:34:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:34:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:34:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:34:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:34:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.41s (batch: 4.14s, save: 9.27s) [pipeline.py: 300] +05/11 02:34:36 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s: + episode_total: mean=181.68s, total=181.68s, count=1, min=181678.0ms, max=181678.0ms + sensor_polling: mean=457.1ms, total=137.13s, count=300, min=381.7ms, max=767.9ms + save_trajectories: mean=9.27s, total=9.27s, count=1, min=9268.7ms, max=9268.7ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=13.6ms, max=66.9ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.6ms, max=4141.6ms + task_sampling: mean=395.1ms, total=395.1ms, count=1, min=395.1ms, max=395.1ms + task_specific_sample: mean=392.0ms, total=392.0ms, count=1, min=392.0ms, max=392.0ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:34:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:34:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:34:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:34:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:34:38 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 02:34:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:34:38 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 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084902m [env.py: 870] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:34:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0400889 0.86388119 0.08490167] yaw=-159.2deg [env.py: 1019] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98715516 1.25390261 0.08490167] yaw=-122.5deg [env.py: 1019] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:34:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms [env.py: 1075] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.864, 0.085) [env.py: 1079] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg [env.py: 1082] +05/11 02:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m [env.py: 1086] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:34:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:34:38 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 02:34:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 02:34:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:34:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:34:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:34:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:34:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 89.143[deg] [grasp_sample.py: 539] +05/11 02:34:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:34:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:34:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:34:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:34:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:34:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:34:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:35:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:35:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:35:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:35:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:35:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:35:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:35:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:35:37 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.492[deg] [grasp_sample.py: 539] +05/11 02:35:38 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:35:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:35:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:35:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:35:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:35:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:35:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:35:40 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 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034915m [env.py: 870] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:35:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18345275 1.12745388 0.03491549] yaw=-119.3deg [env.py: 1019] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70260526 0.93739914 0.03491549] yaw=-149.0deg [env.py: 1019] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94196049 0.60457112 0.03491549] yaw=-177.6deg [env.py: 1019] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:35:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.4ms [env.py: 1075] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.183, 1.127, 0.035) [env.py: 1079] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.3 deg [env.py: 1082] +05/11 02:35:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:35:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:35:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:35:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 02:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 02:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:35:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:35:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:35:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:35:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 105.346[deg] [grasp_sample.py: 539] +05/11 02:35:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:35:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:35:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:35:56 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:36:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:36:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:36:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:36:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:36:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:36:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:36:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:36:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.417s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:36:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.205[deg] [grasp_sample.py: 539] +05/11 02:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:36:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:36:26 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 02:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:36:26 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 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005196m [env.py: 870] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03576071 1.2444554 0.0051962 ] yaw=-133.7deg [env.py: 1019] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92109879 0.28338814 0.0051962 ] yaw=174.3deg [env.py: 1019] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.7ms [env.py: 1075] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.244, 0.005) [env.py: 1079] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg [env.py: 1082] +05/11 02:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:36:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:36:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 02:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 02:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:36:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:36:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.433s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:36:29 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.593[m] 88.553[deg] [grasp_sample.py: 539] +05/11 02:36:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:36:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:36:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:36:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:36:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:36:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.80s (batch: 3.61s, save: 8.20s) [pipeline.py: 300] +05/11 02:36:33 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.35s: + episode_total: mean=184.63s, total=184.63s, count=1, min=184631.6ms, max=184631.6ms + sensor_polling: mean=453.8ms, total=136.13s, count=300, min=389.1ms, max=777.1ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms + physics_step: mean=21.1ms, total=6.33s, count=300, min=16.4ms, max=49.0ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.2ms, max=3607.2ms + task_sampling: mean=351.2ms, total=351.2ms, count=1, min=351.2ms, max=351.2ms + task_specific_sample: mean=347.7ms, total=347.7ms, count=1, min=347.7ms, max=347.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=366.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.7us, 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 02:36:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:36:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:36:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:36:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:36:34 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 02:36:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:36:34 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 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057089m [env.py: 870] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:36:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94354371 0.67923909 0.05708884] yaw=-176.1deg [env.py: 1019] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90971662 0.89056737 0.05708884] yaw=-148.1deg [env.py: 1019] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09916618 1.21215953 0.05708884] yaw=-138.1deg [env.py: 1019] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:36:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.6ms, total=112.7ms [env.py: 1075] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.679, 0.057) [env.py: 1079] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg [env.py: 1082] +05/11 02:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m [env.py: 1086] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:36:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:36:35 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 02:36:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 02:36:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:36:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:36:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:36:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:36:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.324[m] 78.283[deg] [grasp_sample.py: 539] +05/11 02:36:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:36:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:36:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:36:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:36:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:37:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:37:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:37:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:37:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:37:20 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:37:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:37:20 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/11 02:37:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:37:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:37:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:37:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:37:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 10.82s (batch: 3.52s, save: 7.29s) [pipeline.py: 300] +05/11 02:37:32 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s: + episode_total: mean=173.98s, total=173.98s, count=1, min=173980.6ms, max=173980.6ms + sensor_polling: mean=461.4ms, total=134.73s, count=292, min=388.6ms, max=761.5ms + save_trajectories: mean=7.29s, total=7.29s, count=1, min=7293.8ms, max=7293.8ms + physics_step: mean=21.2ms, total=6.19s, count=292, min=13.7ms, max=63.6ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3524.3ms, max=3524.3ms + task_sampling: mean=462.0ms, total=462.0ms, count=1, min=462.0ms, max=462.0ms + task_specific_sample: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=377.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:37:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:37:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:37:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:37:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:37:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:37:33 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 02:37:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:37:33 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 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089728m [env.py: 870] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:37:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18807468 1.04700973 0.08972793] yaw=-142.9deg [env.py: 1019] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12251831 0.98790223 0.08972793] yaw=-147.9deg [env.py: 1019] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.72808006 -0.00122954 0.08972793] yaw=162.7deg [env.py: 1019] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms [env.py: 1075] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.188, 1.047, 0.090) [env.py: 1079] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg [env.py: 1082] +05/11 02:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m [env.py: 1086] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:37:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:37:34 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 02:37:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 02:37:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:37:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:37:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:37:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:37:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.341[m] 81.397[deg] [grasp_sample.py: 539] +05/11 02:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:37:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:37:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:37:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:37:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:37:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:37:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:37:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:37:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.576s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:37:55 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.113[m] 5.471[deg] [grasp_sample.py: 539] +05/11 02:37:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:37:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:37:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:38:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:38:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:38:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:38:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:38:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:38:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/11 02:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:38:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:38:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:38:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:38:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/11 02:38:24 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.434s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:38:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.477[deg] [grasp_sample.py: 539] +05/11 02:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:38:25 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.420s, found feasible grasp: False [grasp_sample.py: 500] +05/11 02:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 02:38:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:38:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:38:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:38:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:38:26 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 02:38:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:38:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036486m [env.py: 870] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:38:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94753425 0.42741406 0.03648631] yaw=176.7deg [env.py: 1019] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms [env.py: 1075] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.427, 0.036) [env.py: 1079] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg [env.py: 1082] +05/11 02:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m [env.py: 1086] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:38:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:38:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:38:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:38:27 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 02:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:38:27 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 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044895m [env.py: 870] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02547389 1.07744934 0.04489506] yaw=-139.5deg [env.py: 1019] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99268519 1.16520856 0.04489506] yaw=-134.3deg [env.py: 1019] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98416081 1.20901535 0.04489506] yaw=-131.2deg [env.py: 1019] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:38:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.6ms, total=165.6ms [env.py: 1075] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.077, 0.045) [env.py: 1079] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg [env.py: 1082] +05/11 02:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:38:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:38:27 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 02:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/11 02:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:38:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:38:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:38:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:38:27 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 02:38:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 02:38:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:38:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:38:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:38:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.386s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:38:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.331[m] 96.821[deg] [grasp_sample.py: 539] +05/11 02:38:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:38:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:38:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:38:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.001s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:38:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.535[m] 92.118[deg] [grasp_sample.py: 539] +05/11 02:38:31 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:38:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:38:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:38:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:38:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:38:33 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 02:38:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:38:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004365m [env.py: 870] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:38:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95822872 0.6038591 0.00436462] yaw=-164.5deg [env.py: 1019] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74973339 -0.00523651 0.00436462] yaw=146.5deg [env.py: 1019] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:38:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.4ms, total=167.4ms [env.py: 1075] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.604, 0.004) [env.py: 1079] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg [env.py: 1082] +05/11 02:38:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.754m [env.py: 1086] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:38:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:38:33 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 02:38:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 02:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:38:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:38:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:38:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:38:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.281[m] 81.013[deg] [grasp_sample.py: 539] +05/11 02:38:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:38:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:38:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:38:55 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:39:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:39:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:39:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:39:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:39:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:39:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:39:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:39:14 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/11 02:39:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:39:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:39:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:39:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.14s (batch: 4.27s, save: 9.86s) [pipeline.py: 300] +05/11 02:39:29 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.36s: + episode_total: mean=174.31s, total=174.31s, count=1, min=174309.8ms, max=174309.8ms + sensor_polling: mean=454.8ms, total=129.16s, count=284, min=388.9ms, max=863.3ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.4ms, max=9863.4ms + physics_step: mean=23.2ms, total=6.59s, count=284, min=13.5ms, max=80.9ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.8ms, max=4272.8ms + task_sampling: mean=359.1ms, total=359.1ms, count=1, min=359.1ms, max=359.1ms + task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 02:39:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:39:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:39:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:39:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:39:30 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 02:39:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:39:30 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 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093591m [env.py: 870] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:39:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12528182 1.18467294 0.09359085] yaw=-136.6deg [env.py: 1019] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75397958 0.97574423 0.09359085] yaw=-151.6deg [env.py: 1019] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:39:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.3ms, total=167.3ms [env.py: 1075] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.125, 1.185, 0.094) [env.py: 1079] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg [env.py: 1082] +05/11 02:39:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:39:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:39:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:39:31 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 02:39:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 02:39:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:39:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:39:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:39:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.760s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:39:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.523[m] 94.268[deg] [grasp_sample.py: 539] +05/11 02:39:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:39:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:39:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:39:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:39:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:39:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:39:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:39:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.519s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:39:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.406[deg] [grasp_sample.py: 539] +05/11 02:39:51 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:39:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:39:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:39:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:39:53 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 02:39:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:39:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036693m [env.py: 870] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:39:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74754708 0.76089117 0.03669274] yaw=-156.0deg [env.py: 1019] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80834344 0.32818121 0.03669274] yaw=169.7deg [env.py: 1019] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90698341 0.65376373 0.03669274] yaw=-175.1deg [env.py: 1019] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:39:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.3ms, total=332.4ms [env.py: 1075] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.761, 0.037) [env.py: 1079] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg [env.py: 1082] +05/11 02:39:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:39:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:39:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:39:54 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 02:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/11 02:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:39:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:39:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.297s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:39:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 91.158[deg] [grasp_sample.py: 539] +05/11 02:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:39:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:39:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:40:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:40:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:40:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:40:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:40:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:40:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg] [grasp_sample.py: 539] +05/11 02:40:05 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:40:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:40:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:40:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:40:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:40:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:40:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:40:06 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 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060962m [env.py: 870] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:40:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80351157 1.09458717 0.06096196] yaw=-137.2deg [env.py: 1019] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72449173 0.2670605 0.06096196] yaw=173.9deg [env.py: 1019] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90305243 0.7429319 0.06096196] yaw=-162.9deg [env.py: 1019] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:40:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.8ms [env.py: 1075] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.095, 0.061) [env.py: 1079] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg [env.py: 1082] +05/11 02:40:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:40:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:40:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:40:07 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 02:40:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 02:40:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:40:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:40:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:40:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.380s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:40:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.317[deg] [grasp_sample.py: 539] +05/11 02:40:09 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:40:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:40:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:40:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:40:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:40:11 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 02:40:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:40:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096104m [env.py: 870] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:40:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99274547 0.94258334 0.09610424] yaw=-156.5deg [env.py: 1019] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06690562 0.91988958 0.09610424] yaw=-138.2deg [env.py: 1019] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9306923 0.81507989 0.09610424] yaw=-149.6deg [env.py: 1019] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:40:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1075] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.943, 0.096) [env.py: 1079] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg [env.py: 1082] +05/11 02:40:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:40:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:40:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:40:11 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 02:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 02:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:40:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:40:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:40:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:40:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 90.564[deg] [grasp_sample.py: 539] +05/11 02:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:40:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:40:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:40:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:40:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:40:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:40:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:40:50 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:40:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:40:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:41:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:41:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:41:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:41:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:41:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:41:10 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/11 02:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:41:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:41:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 3.72s, save: 9.79s) [pipeline.py: 300] +05/11 02:41:24 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s: + episode_total: mean=111.22s, total=444.88s, count=4, min=4505.4ms, max=171138.8ms + sensor_polling: mean=453.8ms, total=350.34s, count=772, min=378.3ms, max=1044.9ms + physics_step: mean=20.7ms, total=16.02s, count=772, min=13.5ms, max=143.6ms + save_trajectories: mean=9.79s, total=9.79s, count=1, min=9791.8ms, max=9791.8ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.4ms, max=3718.4ms + task_sampling: mean=388.0ms, total=1.55s, count=4, min=342.7ms, max=423.3ms + task_specific_sample: mean=384.1ms, total=1.54s, count=4, min=339.5ms, max=420.4ms + scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.1ms, max=2.1ms + mj_forward_sync: mean=1.1ms, total=4.2ms, count=4, min=0.4ms, max=3.1ms + policy_setup: mean=20.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:41:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:41:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:41:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:41:25 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 02:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:41:25 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 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063864m [env.py: 870] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00927798 1.02095232 0.06386404] yaw=-147.7deg [env.py: 1019] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63639876 0.59920286 0.06386404] yaw=-174.4deg [env.py: 1019] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12112189 1.04961567 0.06386404] yaw=-136.6deg [env.py: 1019] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:41:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.0ms, total=101.0ms [env.py: 1075] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.021, 0.064) [env.py: 1079] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg [env.py: 1082] +05/11 02:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:41:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:41:26 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 02:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 02:41:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:41:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:41:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:41:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:41:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 89.324[deg] [grasp_sample.py: 539] +05/11 02:41:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:41:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:41:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:41:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:41:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:41:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:41:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:41:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.481s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:41:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.532[deg] [grasp_sample.py: 539] +05/11 02:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:41:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:41:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:41:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:41:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:42:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 02:42:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:42:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:42:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:42:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:42:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.405s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:42:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.176[m] 9.335[deg] [grasp_sample.py: 539] +05/11 02:42:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:42:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:42:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:42:08 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 02:42:08 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.47s: + episode_total: mean=158.01s, total=158.01s, count=1, min=158012.9ms, max=158012.9ms + sensor_polling: mean=444.7ms, total=133.42s, count=300, min=387.9ms, max=963.4ms + physics_step: mean=20.4ms, total=6.12s, count=300, min=13.8ms, max=45.0ms + task_sampling: mean=474.5ms, total=474.5ms, count=1, min=474.5ms, max=474.5ms + task_specific_sample: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=509.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:42:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:42:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:42:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:42:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:42:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:42:10 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 02:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:42:10 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 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031101m [env.py: 870] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:42:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66939563 0.66822278 0.03110104] yaw=-173.3deg [env.py: 1019] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76383959 0.22384639 0.03110104] yaw=159.2deg [env.py: 1019] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80078555 0.08251846 0.03110104] yaw=148.9deg [env.py: 1019] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms [env.py: 1075] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.669, 0.668, 0.031) [env.py: 1079] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg [env.py: 1082] +05/11 02:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:42:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:42:10 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 02:42:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 02:42:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:42:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:42:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:42:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.477s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:42:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 88.564[deg] [grasp_sample.py: 539] +05/11 02:42:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:42:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:42:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:42:16 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:42:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:42:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:42:38 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:42:42 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:42:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:42:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:42:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:42:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:42:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.46s (batch: 4.08s, save: 8.38s) [pipeline.py: 300] +05/11 02:42:55 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.08s: + episode_total: mean=159.92s, total=319.84s, count=2, min=138047.3ms, max=181792.0ms + sensor_polling: mean=451.9ms, total=248.56s, count=550, min=386.5ms, max=994.7ms + physics_step: mean=21.0ms, total=11.53s, count=550, min=15.0ms, max=68.1ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4076.7ms, max=4076.7ms + task_sampling: mean=538.1ms, total=1.08s, count=2, min=446.5ms, max=629.6ms + task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=443.0ms, max=625.3ms + scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=2.2ms, max=2.3ms + mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=21.0us, 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 02:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:42:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:42:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:42:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:42:57 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 02:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009806m [env.py: 870] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74702542 0.9272043 0.00980555] yaw=-162.0deg [env.py: 1019] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06270977 1.26076053 0.00980555] yaw=-127.9deg [env.py: 1019] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.6ms [env.py: 1075] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.927, 0.010) [env.py: 1079] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg [env.py: 1082] +05/11 02:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:42:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:42:57 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 02:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/11 02:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:42:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:42:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:43:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:43:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:43:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:43:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.479s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:43:01 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.634[m] 88.835[deg] [grasp_sample.py: 539] +05/11 02:43:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:43:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:43:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:43:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:43:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:43:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:43:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.70s (batch: 3.77s, save: 7.93s) [pipeline.py: 300] +05/11 02:43:12 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=2.25s: + episode_total: mean=109.32s, total=546.60s, count=5, min=2921.1ms, max=181064.9ms + sensor_polling: mean=456.4ms, total=421.71s, count=924, min=385.6ms, max=856.8ms + physics_step: mean=21.7ms, total=20.01s, count=924, min=13.9ms, max=60.7ms + save_trajectories: mean=7.93s, total=7.93s, count=1, min=7933.1ms, max=7933.1ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3766.5ms, max=3766.5ms + task_sampling: mean=450.1ms, total=2.25s, count=5, min=393.9ms, max=502.6ms + task_specific_sample: mean=447.0ms, total=2.23s, count=5, min=390.8ms, max=499.5ms + scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=1.1ms, max=2.3ms + mj_forward_sync: mean=403.2us, total=2.0ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=19.4us, total=0.1ms, count=5, 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: 380] +05/11 02:43:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:43:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:43:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:43:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:43:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:43:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:43:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081645m [env.py: 870] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:43:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9308983 0.39664266 0.08164505] yaw=176.0deg [env.py: 1019] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97091112 0.10641144 0.08164505] yaw=142.4deg [env.py: 1019] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15738571 1.11607121 0.08164505] yaw=-127.3deg [env.py: 1019] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:43:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms [env.py: 1075] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.082) [env.py: 1079] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg [env.py: 1082] +05/11 02:43:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m [env.py: 1086] +05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:43:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:43:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:43:14 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 02:43:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 02:43:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:43:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:43:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:43:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:43:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.399s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:43:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.349[m] 95.858[deg] [grasp_sample.py: 539] +05/11 02:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:43:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:43:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:43:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:43:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:43:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:43:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:43:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:43:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:43:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:43:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:43:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.315[deg] [grasp_sample.py: 539] +05/11 02:43:59 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:44:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:44:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:44:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:44:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:44:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:44:01 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 02:44:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:44:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085501m [env.py: 870] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:44:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77714369 0.43511158 0.08550133] yaw=180.9deg [env.py: 1019] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93775456 0.67732739 0.08550133] yaw=-174.7deg [env.py: 1019] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:44:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.2ms, total=166.3ms [env.py: 1075] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.435, 0.086) [env.py: 1079] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg [env.py: 1082] +05/11 02:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:44:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:44:02 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 02:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 02:44:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:44:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:44:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:44:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.456s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:44:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 91.153[deg] [grasp_sample.py: 539] +05/11 02:44:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:44:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:44:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:44:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:44:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:44:35 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:44:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:44:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:44:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:44:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:44:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.099s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:44:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.614s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:44:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.675[deg] [grasp_sample.py: 539] +05/11 02:44:50 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:44:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:44:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:44:52 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 02:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:44:52 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 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028290m [env.py: 870] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:44:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92581603 0.4572776 0.02829025] yaw=184.9deg [env.py: 1019] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78507727 0.85804967 0.02829025] yaw=-150.9deg [env.py: 1019] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96612743 0.92877818 0.02829025] yaw=-158.0deg [env.py: 1019] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:44:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.4ms [env.py: 1075] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.457, 0.028) [env.py: 1079] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.9 deg [env.py: 1082] +05/11 02:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m [env.py: 1086] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:44:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:44:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 02:44:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 02:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:44:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:44:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:44:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:44:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 100.786[deg] [grasp_sample.py: 539] +05/11 02:44:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:44:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:44:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:44:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:44:59 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:44:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:44:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:45:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:45:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:45:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:45:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.19s (batch: 4.36s, save: 7.84s) [pipeline.py: 300] +05/11 02:45:12 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s: + episode_total: mean=182.46s, total=182.46s, count=1, min=182463.7ms, max=182463.7ms + sensor_polling: mean=443.7ms, total=133.10s, count=300, min=374.4ms, max=855.4ms + save_trajectories: mean=7.84s, total=7.84s, count=1, min=7835.8ms, max=7835.8ms + physics_step: mean=21.8ms, total=6.53s, count=300, min=13.6ms, max=67.0ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.2ms, max=4357.2ms + task_sampling: mean=465.8ms, total=465.8ms, count=1, min=465.8ms, max=465.8ms + task_specific_sample: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=527.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, 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 02:45:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:45:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:45:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:45:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:45:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:45:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:45:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012329m [env.py: 870] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:45:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91643954 0.81461754 0.01232899] yaw=-167.4deg [env.py: 1019] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79996886 0.08772692 0.01232899] yaw=167.7deg [env.py: 1019] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83028889 1.0932829 0.01232899] yaw=-156.1deg [env.py: 1019] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:45:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.2ms [env.py: 1075] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.815, 0.012) [env.py: 1079] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg [env.py: 1082] +05/11 02:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:45:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:45:14 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 02:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 02:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:45:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:45:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:45:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:45:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.407[m] 89.061[deg] [grasp_sample.py: 539] +05/11 02:45:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:45:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:45:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:45:25 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:45:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:45:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:45:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:45:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:45:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:45:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:45:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:46:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:46:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:46:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.88s (batch: 3.94s, save: 8.94s) [pipeline.py: 300] +05/11 02:46:03 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s: + episode_total: mean=186.17s, total=186.17s, count=1, min=186174.8ms, max=186174.8ms + sensor_polling: mean=449.3ms, total=134.78s, count=300, min=387.0ms, max=835.5ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.2ms, max=8940.2ms + physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=94.8ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3935.5ms, max=3935.5ms + task_sampling: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms + task_specific_sample: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=588.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 02:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:46:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:46:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:46:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:46:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:46:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:46:04 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 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012958m [env.py: 870] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:46:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86632894 1.18196708 0.01295842] yaw=-132.5deg [env.py: 1019] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90974515 0.09898569 0.01295842] yaw=153.1deg [env.py: 1019] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66973585 0.51128947 0.01295842] yaw=-170.3deg [env.py: 1019] +05/11 02:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:46:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.3ms [env.py: 1075] +05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 1.182, 0.013) [env.py: 1079] +05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg [env.py: 1082] +05/11 02:46:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:46:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:46:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:46:05 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 02:46:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 02:46:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:46:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:46:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.203s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:46:08 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' [pipeline.py: 1242] +05/11 02:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:46:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:46:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:46:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:46:10 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 02:46:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:46:10 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 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089093m [env.py: 870] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:46:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86102986 0.82982191 0.08909347] yaw=-149.0deg [env.py: 1019] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84275858 0.23723363 0.08909347] yaw=171.7deg [env.py: 1019] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0749041 1.14063254 0.08909347] yaw=-143.6deg [env.py: 1019] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:46:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.4ms, total=98.4ms [env.py: 1075] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.830, 0.089) [env.py: 1079] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg [env.py: 1082] +05/11 02:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m [env.py: 1086] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:46:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:46:10 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 02:46:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 02:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:46:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:46:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:46:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:46:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:46:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:46:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:46:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.526[m] 99.681[deg] [grasp_sample.py: 539] +05/11 02:46:11 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.313s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:46:11 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.631[deg] [grasp_sample.py: 539] +05/11 02:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:46:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:46:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:46:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:46:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:46:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:46:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:46:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:46:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:46:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.351s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:46:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.405[deg] [grasp_sample.py: 539] +05/11 02:46:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:46:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:46:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:42 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:46:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:46:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:46:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:47:05 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:47:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:47:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:47:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:47:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:47:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:47:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:47:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.52s (batch: 3.86s, save: 8.66s) [pipeline.py: 300] +05/11 02:47:18 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.80s: + episode_total: mean=175.42s, total=350.85s, count=2, min=154120.1ms, max=196728.5ms + sensor_polling: mean=447.3ms, total=267.46s, count=598, min=382.8ms, max=957.7ms + physics_step: mean=21.2ms, total=12.66s, count=598, min=12.4ms, max=95.9ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8659.2ms, max=8659.2ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.8ms, max=3857.8ms + task_sampling: mean=399.1ms, total=798.1ms, count=2, min=397.9ms, max=400.3ms + task_specific_sample: mean=395.2ms, total=790.4ms, count=2, min=393.5ms, max=396.9ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.2ms, max=2.5ms + mj_forward_sync: mean=468.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:47:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:47:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:47:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:47:20 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 02:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:47:20 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 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083837m [env.py: 870] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02372407 0.8349774 0.08383687] yaw=-144.9deg [env.py: 1019] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89440444 1.00927682 0.08383687] yaw=-144.1deg [env.py: 1019] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10665283 1.09181924 0.08383687] yaw=-134.3deg [env.py: 1019] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.0ms, total=339.0ms [env.py: 1075] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.835, 0.084) [env.py: 1079] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.9 deg [env.py: 1082] +05/11 02:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m [env.py: 1086] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:47:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:47:20 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 02:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/11 02:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:47:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.293s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:47:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 93.260[deg] [grasp_sample.py: 539] +05/11 02:47:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:47:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:47:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:47:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:47:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:47:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:47:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:47:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:47:38 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:47:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.419s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:47:39 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.049[deg] [grasp_sample.py: 539] +05/11 02:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:47:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:47:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:47:41 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:48:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:48:02 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:48:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:48:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:48:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:48:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:48:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:48:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:48:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:48:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:48:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:48:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.63s (batch: 3.93s, save: 7.70s) [pipeline.py: 300] +05/11 02:48:15 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.37s: + episode_total: mean=180.85s, total=180.85s, count=1, min=180851.4ms, max=180851.4ms + sensor_polling: mean=447.4ms, total=134.22s, count=300, min=390.2ms, max=843.9ms + save_trajectories: mean=7.70s, total=7.70s, count=1, min=7702.8ms, max=7702.8ms + physics_step: mean=20.7ms, total=6.21s, count=300, min=16.7ms, max=50.3ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3927.1ms, max=3927.1ms + task_sampling: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms + task_specific_sample: mean=369.7ms, total=369.7ms, count=1, min=369.7ms, max=369.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=400.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:48:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:48:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:48:16 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 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073043m [env.py: 870] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01753125 1.0064936 0.0730427 ] yaw=-153.2deg [env.py: 1019] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87744784 0.25545261 0.0730427 ] yaw=172.4deg [env.py: 1019] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.5ms, total=155.5ms [env.py: 1075] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.006, 0.073) [env.py: 1079] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg [env.py: 1082] +05/11 02:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:48:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:48:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 02:48:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 02:48:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:48:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:48:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:48:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:48:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 90.373[deg] [grasp_sample.py: 539] +05/11 02:48:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:48:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:48:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:48:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:48:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:48:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.44s (batch: 4.04s, save: 8.40s) [pipeline.py: 300] +05/11 02:48:20 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.88s: + episode_total: mean=152.29s, total=304.58s, count=2, min=96724.6ms, max=207860.0ms + sensor_polling: mean=455.1ms, total=215.27s, count=473, min=395.6ms, max=853.3ms + physics_step: mean=21.7ms, total=10.25s, count=473, min=13.2ms, max=71.8ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8401.0ms, max=8401.0ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms + task_sampling: mean=440.0ms, total=879.9ms, count=2, min=403.2ms, max=476.7ms + task_specific_sample: mean=436.5ms, total=873.1ms, count=2, min=399.7ms, max=473.3ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms + mj_forward_sync: mean=466.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:48:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:48:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:48:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:48:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:48:21 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 02:48:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:48:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051442m [env.py: 870] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:48:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6800652 0.4410362 0.05144215] yaw=177.1deg [env.py: 1019] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12030799 1.01022821 0.05144215] yaw=-135.5deg [env.py: 1019] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.708727 0.11066344 0.05144215] yaw=150.8deg [env.py: 1019] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:48:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.5ms, total=93.5ms [env.py: 1075] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.441, 0.051) [env.py: 1079] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg [env.py: 1082] +05/11 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:48:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:48:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 02:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 02:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:48:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:48:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:48:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:48:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.625[m] 105.551[deg] [grasp_sample.py: 539] +05/11 02:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:48:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:48:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:48:35 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:48:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:48:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:48:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:49:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:49:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:49:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:49:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.58s (batch: 4.21s, save: 9.37s) [pipeline.py: 300] +05/11 02:49:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.72s: + episode_total: mean=92.35s, total=184.71s, count=2, min=3729.4ms, max=180977.1ms + sensor_polling: mean=451.0ms, total=135.30s, count=300, min=387.0ms, max=949.8ms + save_trajectories: mean=9.37s, total=9.37s, count=1, min=9369.1ms, max=9369.1ms + physics_step: mean=20.6ms, total=6.18s, count=300, min=13.7ms, max=35.5ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4206.1ms, max=4206.1ms + task_sampling: mean=359.9ms, total=719.8ms, count=2, min=318.4ms, max=401.4ms + task_specific_sample: mean=356.9ms, total=713.8ms, count=2, min=315.8ms, max=398.0ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms + mj_forward_sync: mean=364.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:49:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:49:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:49:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:49:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:49:12 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 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083963m [env.py: 870] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790689 0.08961169 0.08396345] yaw=148.8deg [env.py: 1019] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93962969 0.36751884 0.08396345] yaw=176.1deg [env.py: 1019] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.1ms [env.py: 1075] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.090, 0.084) [env.py: 1079] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg [env.py: 1082] +05/11 02:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:49:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:49:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 02:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 02:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:49:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.672s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:49:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.354[m] 91.163[deg] [grasp_sample.py: 539] +05/11 02:49:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:49:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:49:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:49:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:49:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:49:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:49:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:49:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:49:49 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:49:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:49:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:50:12 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:50:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:50:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.20s (batch: 3.88s, save: 8.32s) [pipeline.py: 300] +05/11 02:50:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.64s: + episode_total: mean=184.88s, total=184.88s, count=1, min=184882.9ms, max=184882.9ms + sensor_polling: mean=459.4ms, total=137.83s, count=300, min=392.9ms, max=785.9ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.1ms, max=8318.1ms + physics_step: mean=21.3ms, total=6.38s, count=300, min=15.6ms, max=53.1ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms + task_sampling: mean=640.1ms, total=640.1ms, count=1, min=640.1ms, max=640.1ms + task_specific_sample: mean=636.1ms, total=636.1ms, count=1, min=636.1ms, max=636.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=526.7us, 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 02:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:50:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:50:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:50:26 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 02:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:50:26 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 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062174m [env.py: 870] +05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94709228 0.77851438 0.06217409] yaw=-149.5deg [env.py: 1019] +05/11 02:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70206733 0.41102557 0.06217409] yaw=184.8deg [env.py: 1019] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68085066 0.42511192 0.06217409] yaw=165.9deg [env.py: 1019] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.6ms [env.py: 1075] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.779, 0.062) [env.py: 1079] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg [env.py: 1082] +05/11 02:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:50:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:50:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 02:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/11 02:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:50:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.310s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:50:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.490[deg] [grasp_sample.py: 539] +05/11 02:50:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:50:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:50:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:52 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:50:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:50:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:51:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:51:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:51:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:51:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:51:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:51:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:51:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:51:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:51:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:51:14 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.270[deg] [grasp_sample.py: 539] +05/11 02:51:15 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:51:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:51:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:51:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:51:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:51:16 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 02:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:51:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007843m [env.py: 870] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93806868 0.64586717 0.00784276] yaw=-157.2deg [env.py: 1019] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74378501 0.05424597 0.00784276] yaw=145.3deg [env.py: 1019] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82582189 0.82551053 0.00784276] yaw=-169.4deg [env.py: 1019] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.6ms, total=109.6ms [env.py: 1075] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.646, 0.008) [env.py: 1079] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg [env.py: 1082] +05/11 02:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m [env.py: 1086] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:51:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:51:17 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 02:51:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 02:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:51:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:51:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:51:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:51:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:51:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:51:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:51:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.350[m] 88.098[deg] [grasp_sample.py: 539] +05/11 02:51:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:51:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:51:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:51:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:51:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:51:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:51:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.73s (batch: 3.80s, save: 7.94s) [pipeline.py: 300] +05/11 02:51:26 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.35s: + episode_total: mean=184.61s, total=184.61s, count=1, min=184607.9ms, max=184607.9ms + sensor_polling: mean=454.6ms, total=136.39s, count=300, min=383.3ms, max=895.0ms + save_trajectories: mean=7.94s, total=7.94s, count=1, min=7935.9ms, max=7935.9ms + physics_step: mean=22.3ms, total=6.68s, count=300, min=14.1ms, max=77.0ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.9ms, max=3795.9ms + task_sampling: mean=346.6ms, total=346.6ms, count=1, min=346.6ms, max=346.6ms + task_specific_sample: mean=343.0ms, total=343.0ms, count=1, min=343.0ms, max=343.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=373.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:51:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:51:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:51:27 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 02:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091385m [env.py: 870] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02322248 1.25505167 0.09138471] yaw=-139.1deg [env.py: 1019] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0511847 0.88939376 0.09138471] yaw=-142.3deg [env.py: 1019] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84408061 0.34259098 0.09138471] yaw=162.0deg [env.py: 1019] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.8ms, total=61.8ms [env.py: 1075] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.255, 0.091) [env.py: 1079] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg [env.py: 1082] +05/11 02:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:51:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:51:28 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 02:51:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 02:51:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:51:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:51:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:51:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:51:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:51:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.97s (batch: 3.82s, save: 8.15s) [pipeline.py: 300] +05/11 02:51:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s: + episode_total: mean=193.19s, total=193.19s, count=1, min=193191.7ms, max=193191.7ms + sensor_polling: mean=458.8ms, total=137.64s, count=300, min=400.7ms, max=679.8ms + save_trajectories: mean=8.15s, total=8.15s, count=1, min=8152.5ms, max=8152.5ms + physics_step: mean=21.5ms, total=6.46s, count=300, min=16.8ms, max=73.9ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3819.6ms, max=3819.6ms + task_sampling: mean=417.6ms, total=417.6ms, count=1, min=417.6ms, max=417.6ms + task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:51:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.601s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:51:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.637[m] 73.934[deg] [grasp_sample.py: 539] +05/11 02:51:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:51:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:51:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:51:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:51:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:51:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:51:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:51:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:51:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:51:31 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 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037868m [env.py: 870] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:51:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78851174 0.30603484 0.03786768] yaw=177.3deg [env.py: 1019] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:51:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms [env.py: 1075] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.306, 0.038) [env.py: 1079] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg [env.py: 1082] +05/11 02:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:51:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:51:31 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 02:51:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 02:51:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:51:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:51:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:51:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:51:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 91.263[deg] [grasp_sample.py: 539] +05/11 02:51:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:51:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:51:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:51:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:51:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:52:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:52:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:52:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:52:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:52:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:52:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:52:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:52:55 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:53:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:53:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:53:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] diff --git a/fridge_7/chunk_014/shard_1_of_4.log b/fridge_7/chunk_014/shard_1_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..49d64b218668fed44d6ff9edf841819fa815e882 --- /dev/null +++ b/fridge_7/chunk_014/shard_1_of_4.log @@ -0,0 +1,1142 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014 + shard=1/4 seed=21401 samples=3 + CUDA_VISIBLE_DEVICES=0 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 02:21:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 02:21:35 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 02:21:35 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21401, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:35 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 02:21:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 02:21:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 132307084111120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 132307084111120 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 132307084111120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 132307084111120 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 132307085357008 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132307085357008 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 132307085359056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132307085359056 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 132307085359056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132307085359056 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 132307085357008 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132307085357008 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 132307084135120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132307084135120 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 132307084136656 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132307084136656 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 132307084136656 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132307084136656 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 132307084135120 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132307084135120 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 02:21:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 02:21:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:21:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:21:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) +[05/11 02:21:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:21:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:21:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006254m +[05/11 02:21:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:21:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 02:21:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:21:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83598799 0.77003849 0.00625384] yaw=-161.6deg +[05/11 02:21:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:21:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78380528 0.15157504 0.00625384] yaw=169.3deg +[05/11 02:21:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90803158 1.05521122 0.00625384] yaw=-152.5deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=14.2ms, retries=152.2ms, total=166.4ms +[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.770, 0.006) +[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m +[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:21:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 02:22:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.642s +[05/11 02:22:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:22:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.050s, found feasible grasp: True +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 82.251[deg] +[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:22:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:22:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:24:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 02:24:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:24:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:24:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:25:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 02:25:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:25:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.77s (batch: 3.92s, save: 7.85s) +[05/11 02:25:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.94s: + episode_total: mean=209.30s, total=209.30s, count=1, min=209300.8ms, max=209300.8ms + sensor_polling: mean=460.5ms, total=138.14s, count=300, min=390.3ms, max=845.4ms + save_trajectories: mean=7.85s, total=7.85s, count=1, min=7848.1ms, max=7848.1ms + physics_step: mean=22.1ms, total=6.64s, count=300, min=16.8ms, max=65.5ms + task_sampling: mean=3.94s, total=3.94s, count=1, min=3935.3ms, max=3935.3ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.9ms, max=3921.9ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms + compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + task_specific_sample: mean=443.3ms, total=443.3ms, count=1, min=443.3ms, max=443.3ms + compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms + compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms + asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms + mj_forward_sync: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + policy_setup: mean=42.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:25:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:25:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:25:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:25:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:25:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:25:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:25:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:25:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) +[05/11 02:25:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:25:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:25:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095102m +[05/11 02:25:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:25:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:25:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:25:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88156688 0.15260032 0.09510248] yaw=161.1deg +[05/11 02:25:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:25:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76970217 0.4470166 0.09510248] yaw=167.4deg +[05/11 02:25:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:25:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9531869 0.78017159 0.09510248] yaw=-163.2deg +[05/11 02:25:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:25:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:25:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.1ms +[05/11 02:25:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.153, 0.095) +[05/11 02:25:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg +[05/11 02:25:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.884m +[05/11 02:25:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:25:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:25:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:25:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:25:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:25:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 02:25:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s +[05/11 02:25:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:25:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:25:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:25:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True +[05/11 02:25:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.472[m] 99.496[deg] +[05/11 02:25:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:25:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:26:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:26:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:27:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:27:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:27:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:27:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps +[05/11 02:27:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.487s, found feasible grasp: True +[05/11 02:27:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.513[deg] +[05/11 02:27:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:27:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:27:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:27:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:27:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:27:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) +[05/11 02:27:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:27:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:27:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016693m +[05/11 02:27:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:27:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:27:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:27:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:27:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8933712 0.45328484 0.01669323] yaw=179.4deg +[05/11 02:27:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:27:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94479764 0.41826438 0.01669323] yaw=177.6deg +[05/11 02:27:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:27:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67350964 0.14058239 0.01669323] yaw=165.0deg +[05/11 02:27:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:27:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:27:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.6ms +[05/11 02:27:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.453, 0.017) +[05/11 02:27:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg +[05/11 02:27:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m +[05/11 02:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:27:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:27:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:27:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 02:27:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s +[05/11 02:27:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:27:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:27:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:27:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.412s, found feasible grasp: True +[05/11 02:27:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.356[m] 86.610[deg] +[05/11 02:27:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:27:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:29:34 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000 +[05/11 02:29:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:29:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:29:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:29:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps +[05/11 02:29:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.434s, found feasible grasp: True +[05/11 02:29:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.181[deg] +[05/11 02:29:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:29:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/11 02:30:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:30:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:30:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:30:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:30:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:30:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.04s (batch: 3.85s, save: 9.19s) +[05/11 02:30:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.68s: + episode_total: mean=156.91s, total=313.81s, count=2, min=130150.6ms, max=183663.1ms + sensor_polling: mean=457.3ms, total=243.28s, count=532, min=372.4ms, max=890.7ms + physics_step: mean=23.2ms, total=12.32s, count=532, min=14.3ms, max=58.7ms + save_trajectories: mean=9.19s, total=9.19s, count=1, min=9185.7ms, max=9185.7ms + save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.8ms, max=3850.8ms + task_sampling: mean=337.9ms, total=675.7ms, count=2, min=311.7ms, max=364.1ms + task_specific_sample: mean=334.3ms, total=668.6ms, count=2, min=308.1ms, max=360.5ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms + mj_forward_sync: mean=475.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=19.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:30:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:30:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:30:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:30:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:30:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:30:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:30:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:30:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) +[05/11 02:30:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:30:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:30:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098463m +[05/11 02:30:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:30:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:30:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:24 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=160.4ms, total=160.5ms +[05/11 02:30:24 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house + task = runner_class.sample_task_from_spec( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec + return task_sampler.sample_task(house_index=house_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task + task = self._sample_task(self.env) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task + self._sample_and_place_robot(env) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot + raise ValueError(f"Failed to place robot near object: {pickup_obj.name}") +ValueError: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 02:30:24 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 3 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 02:30:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:30:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:30:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:30:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) +[05/11 02:30:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:30:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:30:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005358m +[05/11 02:30:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:30:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:30:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89992377 0.43340667 0.00535837] yaw=166.9deg +[05/11 02:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70849238 0.4744366 0.00535837] yaw=182.9deg +[05/11 02:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:30:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:30:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=214.0ms +[05/11 02:30:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.433, 0.005) +[05/11 02:30:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg +[05/11 02:30:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m +[05/11 02:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:30:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:30:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 02:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s +[05/11 02:30:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:30:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:30:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 02:30:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.394s, found feasible grasp: True +[05/11 02:30:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.361[m] 85.675[deg] +[05/11 02:30:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:30:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:31:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:31:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:32:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/11 02:33:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:33:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:33:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps +[05/11 02:33:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:33:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:33:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.17s (batch: 3.82s, save: 8.35s) +[05/11 02:33:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.50s: + episode_total: mean=90.82s, total=181.63s, count=2, min=177.3ms, max=181455.7ms + sensor_polling: mean=454.2ms, total=132.62s, count=292, min=385.7ms, max=966.6ms + save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.0ms, max=8350.0ms + physics_step: mean=22.6ms, total=6.59s, count=292, min=13.4ms, max=44.0ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3816.5ms, max=3816.5ms + task_specific_sample: mean=334.7ms, total=669.4ms, count=2, min=167.7ms, max=501.7ms + task_sampling: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms + task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=483.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:33:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:33:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:33:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:33:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:33:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) +[05/11 02:33:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:33:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:33:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023149m +[05/11 02:33:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:33:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:33:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:33:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90217044 0.73016441 0.02314857] yaw=-174.0deg +[05/11 02:33:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:33:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91349004 0.40464552 0.02314857] yaw=184.3deg +[05/11 02:33:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:33:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:33:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79433098 0.37628759 0.02314857] yaw=177.6deg +[05/11 02:33:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:33:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:33:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.0ms, total=93.0ms +[05/11 02:33:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.730, 0.023) +[05/11 02:33:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg +[05/11 02:33:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.838m +[05/11 02:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:33:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:33:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 02:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/11 02:33:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:33:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:33:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps +[05/11 02:33:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.820s, found feasible grasp: True +[05/11 02:33:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.400[m] 87.525[deg] +[05/11 02:33:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:33:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:33:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:34:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:35:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/11 02:36:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:36:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:36:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:36:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:36:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:36:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.80s (batch: 3.61s, save: 8.20s) +[05/11 02:36:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.35s: + episode_total: mean=184.63s, total=184.63s, count=1, min=184631.6ms, max=184631.6ms + sensor_polling: mean=453.8ms, total=136.13s, count=300, min=389.1ms, max=777.1ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.1ms, max=8195.1ms + physics_step: mean=21.1ms, total=6.33s, count=300, min=16.4ms, max=49.0ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.2ms, max=3607.2ms + task_sampling: mean=351.2ms, total=351.2ms, count=1, min=351.2ms, max=351.2ms + task_specific_sample: mean=347.7ms, total=347.7ms, count=1, min=347.7ms, max=347.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=366.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.7us, 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 +[05/11 02:36:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:36:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:36:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:36:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:36:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:36:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:36:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) +[05/11 02:36:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:36:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:36:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057089m +[05/11 02:36:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:36:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:36:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:36:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94354371 0.67923909 0.05708884] yaw=-176.1deg +[05/11 02:36:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:36:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:36:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90971662 0.89056737 0.05708884] yaw=-148.1deg +[05/11 02:36:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:36:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09916618 1.21215953 0.05708884] yaw=-138.1deg +[05/11 02:36:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:36:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:36:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.6ms, total=112.7ms +[05/11 02:36:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.679, 0.057) +[05/11 02:36:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg +[05/11 02:36:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m +[05/11 02:36:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:36:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:36:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:36:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:36:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 02:36:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s +[05/11 02:36:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:36:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:36:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:36:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True +[05/11 02:36:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.324[m] 78.283[deg] +[05/11 02:36:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:38:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/11 02:39:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:39:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:39:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps +[05/11 02:39:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:39:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:39:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.14s (batch: 4.27s, save: 9.86s) +[05/11 02:39:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.36s: + episode_total: mean=174.31s, total=174.31s, count=1, min=174309.8ms, max=174309.8ms + sensor_polling: mean=454.8ms, total=129.16s, count=284, min=388.9ms, max=863.3ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.4ms, max=9863.4ms + physics_step: mean=23.2ms, total=6.59s, count=284, min=13.5ms, max=80.9ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.8ms, max=4272.8ms + task_sampling: mean=359.1ms, total=359.1ms, count=1, min=359.1ms, max=359.1ms + task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/11 02:39:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:39:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:39:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:39:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:39:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:39:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:39:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:39:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) +[05/11 02:39:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:39:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:39:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093591m +[05/11 02:39:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:39:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:39:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:39:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12528182 1.18467294 0.09359085] yaw=-136.6deg +[05/11 02:39:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:39:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:39:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75397958 0.97574423 0.09359085] yaw=-151.6deg +[05/11 02:39:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:39:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:39:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.3ms, total=167.3ms +[05/11 02:39:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.125, 1.185, 0.094) +[05/11 02:39:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg +[05/11 02:39:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m +[05/11 02:39:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:39:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:39:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:39:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:39:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:39:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 02:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s +[05/11 02:39:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:39:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:39:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:39:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.760s, found feasible grasp: True +[05/11 02:39:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.523[m] 94.268[deg] +[05/11 02:39:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:40:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:41:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:41:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:41:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps +[05/11 02:41:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.481s, found feasible grasp: True +[05/11 02:41:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.532[deg] +[05/11 02:41:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:41:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:42:01 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000 +[05/11 02:42:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 02:42:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:42:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:42:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:42:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.405s, found feasible grasp: True +[05/11 02:42:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.176[m] 9.335[deg] +[05/11 02:42:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:42:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False +[05/11 02:42:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=False episode_total=0.47s: + episode_total: mean=158.01s, total=158.01s, count=1, min=158012.9ms, max=158012.9ms + sensor_polling: mean=444.7ms, total=133.42s, count=300, min=387.9ms, max=963.4ms + physics_step: mean=20.4ms, total=6.12s, count=300, min=13.8ms, max=45.0ms + task_sampling: mean=474.5ms, total=474.5ms, count=1, min=474.5ms, max=474.5ms + task_specific_sample: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=509.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:42:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:42:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:42:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:42:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) +[05/11 02:42:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:42:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:42:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031101m +[05/11 02:42:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:42:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:42:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66939563 0.66822278 0.03110104] yaw=-173.3deg +[05/11 02:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76383959 0.22384639 0.03110104] yaw=159.2deg +[05/11 02:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:42:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80078555 0.08251846 0.03110104] yaw=148.9deg +[05/11 02:42:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:42:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:42:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=201.8ms, total=201.9ms +[05/11 02:42:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.669, 0.668, 0.031) +[05/11 02:42:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg +[05/11 02:42:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m +[05/11 02:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:42:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:42:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:42:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 02:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s +[05/11 02:42:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:42:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:42:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps +[05/11 02:42:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.477s, found feasible grasp: True +[05/11 02:42:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.582[m] 88.564[deg] +[05/11 02:42:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:42:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:44:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 02:44:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:44:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:44:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:45:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:45:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:45:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.19s (batch: 4.36s, save: 7.84s) +[05/11 02:45:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s: + episode_total: mean=182.46s, total=182.46s, count=1, min=182463.7ms, max=182463.7ms + sensor_polling: mean=443.7ms, total=133.10s, count=300, min=374.4ms, max=855.4ms + save_trajectories: mean=7.84s, total=7.84s, count=1, min=7835.8ms, max=7835.8ms + physics_step: mean=21.8ms, total=6.53s, count=300, min=13.6ms, max=67.0ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.2ms, max=4357.2ms + task_sampling: mean=465.8ms, total=465.8ms, count=1, min=465.8ms, max=465.8ms + task_specific_sample: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=527.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, 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 +[05/11 02:45:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:45:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:45:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:45:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:45:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:45:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) +[05/11 02:45:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:45:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:45:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012329m +[05/11 02:45:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:45:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:45:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:45:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:45:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91643954 0.81461754 0.01232899] yaw=-167.4deg +[05/11 02:45:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:45:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:45:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79996886 0.08772692 0.01232899] yaw=167.7deg +[05/11 02:45:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:45:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:45:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83028889 1.0932829 0.01232899] yaw=-156.1deg +[05/11 02:45:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:45:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:45:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.2ms +[05/11 02:45:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.815, 0.012) +[05/11 02:45:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg +[05/11 02:45:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m +[05/11 02:45:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:45:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:45:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:45:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 02:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/11 02:45:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:45:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:45:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 02:45:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True +[05/11 02:45:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.407[m] 89.061[deg] +[05/11 02:45:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:46:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:47:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 02:48:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:48:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:48:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:48:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:48:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:48:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.63s (batch: 3.93s, save: 7.70s) +[05/11 02:48:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.37s: + episode_total: mean=180.85s, total=180.85s, count=1, min=180851.4ms, max=180851.4ms + sensor_polling: mean=447.4ms, total=134.22s, count=300, min=390.2ms, max=843.9ms + save_trajectories: mean=7.70s, total=7.70s, count=1, min=7702.8ms, max=7702.8ms + physics_step: mean=20.7ms, total=6.21s, count=300, min=16.7ms, max=50.3ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3927.1ms, max=3927.1ms + task_sampling: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms + task_specific_sample: mean=369.7ms, total=369.7ms, count=1, min=369.7ms, max=369.7ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=400.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:48:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:48:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:48:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:48:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) +[05/11 02:48:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:48:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:48:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073043m +[05/11 02:48:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:48:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:48:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01753125 1.0064936 0.0730427 ] yaw=-153.2deg +[05/11 02:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:48:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:48:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87744784 0.25545261 0.0730427 ] yaw=172.4deg +[05/11 02:48:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:48:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:48:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.5ms, total=155.5ms +[05/11 02:48:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.018, 1.006, 0.073) +[05/11 02:48:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg +[05/11 02:48:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.863m +[05/11 02:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:48:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:48:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:48:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 02:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s +[05/11 02:48:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:48:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:48:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:48:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True +[05/11 02:48:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 90.373[deg] +[05/11 02:48:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:49:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:50:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:50:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:50:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:50:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:50:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 02:51:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:51:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:51:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:51:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:51:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:51:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.97s (batch: 3.82s, save: 8.15s) +[05/11 02:51:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s: + episode_total: mean=193.19s, total=193.19s, count=1, min=193191.7ms, max=193191.7ms + sensor_polling: mean=458.8ms, total=137.64s, count=300, min=400.7ms, max=679.8ms + save_trajectories: mean=8.15s, total=8.15s, count=1, min=8152.5ms, max=8152.5ms + physics_step: mean=21.5ms, total=6.46s, count=300, min=16.8ms, max=73.9ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3819.6ms, max=3819.6ms + task_sampling: mean=417.6ms, total=417.6ms, count=1, min=417.6ms, max=417.6ms + task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:51:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:51:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:51:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:51:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:51:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:51:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:51:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:51:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) +[05/11 02:51:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:51:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:51:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037868m +[05/11 02:51:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:51:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:51:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:51:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78851174 0.30603484 0.03786768] yaw=177.3deg +[05/11 02:51:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:51:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:51:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:51:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms +[05/11 02:51:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.306, 0.038) +[05/11 02:51:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg +[05/11 02:51:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m +[05/11 02:51:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:51:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:51:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:51:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:51:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:51:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 02:51:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/11 02:51:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:51:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:51:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:51:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True +[05/11 02:51:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.514[m] 91.263[deg] +[05/11 02:51:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:52:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:52:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:52:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_014/shard_2_of_4.log b/fridge_7/chunk_014/shard_2_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..8fd77e0b579967c237c7b1767cde4f818febb2b0 --- /dev/null +++ b/fridge_7/chunk_014/shard_2_of_4.log @@ -0,0 +1,1226 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014 + shard=2/4 seed=21402 samples=3 + CUDA_VISIBLE_DEVICES=1 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:36 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 02:21:36 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 02:21:36 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 02:21:36 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21402, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:36 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 02:21:36 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 02:21:36 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 140139397237648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 140139397237648 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 140139397237648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 140139397237648 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 140139393332816 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 140139393332816 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 140139393333968 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 140139393333968 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 140139393333968 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 140139393333968 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 140139393332816 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 140139393332816 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 140139395303952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 140139395303952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 140139395312208 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 140139395312208 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 140139395312208 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 140139395312208 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 140139395303952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 140139395303952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 02:21:36 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 02:21:39 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) +[05/11 02:21:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:21:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:21:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054232m +[05/11 02:21:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:21:39 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 02:21:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69300933 0.2800372 0.05423242] yaw=160.5deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88435463 0.8255364 0.05423242] yaw=-148.1deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90941967 0.54402711 0.05423242] yaw=-169.2deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=15.9ms, retries=181.0ms, total=196.9ms +[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.280, 0.054) +[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m +[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:21:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 02:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.042s +[05/11 02:22:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:22:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.199s, found feasible grasp: True +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.610[m] 95.830[deg] +[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:22:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:23:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:23:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:23:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:23:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:23:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps +[05/11 02:23:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.081s, found feasible grasp: True +[05/11 02:23:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.308[deg] +[05/11 02:23:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:24:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:24:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:24:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:24:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 02:24:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:24:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:24:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps +[05/11 02:24:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.452s, found feasible grasp: True +[05/11 02:24:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.957[deg] +[05/11 02:24:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:24:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:24:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:24:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:24:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000 +[05/11 02:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3 +[05/11 02:24:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:24:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:24:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps +[05/11 02:24:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.189s, found feasible grasp: True +[05/11 02:24:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.422[deg] +[05/11 02:24:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:24:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:24:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:24:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False +[05/11 02:24:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=3.24s: + episode_total: mean=201.30s, total=201.30s, count=1, min=201301.4ms, max=201301.4ms + sensor_polling: mean=445.0ms, total=133.50s, count=300, min=377.0ms, max=696.5ms + physics_step: mean=19.9ms, total=5.96s, count=300, min=12.6ms, max=45.3ms + task_sampling: mean=3.24s, total=3.24s, count=1, min=3236.2ms, max=3236.2ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms + scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms + scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms + compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms + task_specific_sample: mean=441.0ms, total=441.0ms, count=1, min=441.0ms, max=441.0ms + compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms + scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms + compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms + asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=417.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:24:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:24:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:24:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:24:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:24:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:24:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:24:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:24:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) +[05/11 02:24:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:24:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:24:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072221m +[05/11 02:24:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:24:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:24:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:24:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84476854 0.98224384 0.07222075] yaw=-161.1deg +[05/11 02:24:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:24:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:24:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82597604 0.2837376 0.07222075] yaw=157.0deg +[05/11 02:24:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:24:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:24:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.6ms +[05/11 02:24:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.982, 0.072) +[05/11 02:24:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg +[05/11 02:24:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m +[05/11 02:24:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:24:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:24:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:24:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:25:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:25:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 02:25:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s +[05/11 02:25:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:25:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:25:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:25:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.221s, found feasible grasp: True +[05/11 02:25:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.592[m] 73.718[deg] +[05/11 02:25:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:25:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:25:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:26:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:26:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:27:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 02:27:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:27:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:27:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:27:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 02:27:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:27:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.51s (batch: 4.14s, save: 7.37s) +[05/11 02:27:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s: + episode_total: mean=180.27s, total=180.27s, count=1, min=180273.2ms, max=180273.2ms + sensor_polling: mean=452.6ms, total=135.78s, count=300, min=372.3ms, max=833.7ms + save_trajectories: mean=7.37s, total=7.37s, count=1, min=7368.4ms, max=7368.4ms + physics_step: mean=21.0ms, total=6.30s, count=300, min=13.9ms, max=50.2ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4142.7ms, max=4142.7ms + task_sampling: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms + task_specific_sample: mean=414.7ms, total=414.7ms, count=1, min=414.7ms, max=414.7ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=377.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:28:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:28:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:28:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:28:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:28:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:28:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:28:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:28:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) +[05/11 02:28:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:28:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:28:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087004m +[05/11 02:28:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:28:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:28:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:28:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75258192 0.50092627 0.0870044 ] yaw=-170.4deg +[05/11 02:28:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:28:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74706423 0.3895745 0.0870044 ] yaw=163.3deg +[05/11 02:28:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:28:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85598613 0.22216448 0.0870044 ] yaw=152.3deg +[05/11 02:28:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:28:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:28:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.3ms +[05/11 02:28:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.501, 0.087) +[05/11 02:28:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.4 deg +[05/11 02:28:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m +[05/11 02:28:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:28:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:28:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:28:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:28:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:28:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 02:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:28:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True +[05/11 02:28:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 76.426[deg] +[05/11 02:28:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:28:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:30:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:30:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:30:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:30:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:30:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:30:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps +[05/11 02:30:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.492s, found feasible grasp: True +[05/11 02:30:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.169[deg] +[05/11 02:30:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:30:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:30:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:30:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:30:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:30:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:30:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/11 02:31:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:31:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:31:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:31:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:31:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:31:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.76s (batch: 4.00s, save: 7.76s) +[05/11 02:31:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.32s: + episode_total: mean=211.66s, total=211.66s, count=1, min=211661.5ms, max=211661.5ms + sensor_polling: mean=462.0ms, total=138.59s, count=300, min=388.5ms, max=902.2ms + save_trajectories: mean=7.76s, total=7.76s, count=1, min=7758.7ms, max=7758.7ms + physics_step: mean=20.9ms, total=6.26s, count=300, min=13.1ms, max=43.2ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3999.4ms, max=3999.4ms + task_sampling: mean=319.3ms, total=319.3ms, count=1, min=319.3ms, max=319.3ms + task_specific_sample: mean=315.7ms, total=315.7ms, count=1, min=315.7ms, max=315.7ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=364.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:31:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:31:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:31:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:31:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:31:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:31:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:31:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:31:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) +[05/11 02:31:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:31:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:31:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079612m +[05/11 02:31:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:31:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:31:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:31:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:31:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78420299 0.63615305 0.0796125 ] yaw=-180.6deg +[05/11 02:31:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:31:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13737818 1.08059659 0.0796125 ] yaw=-134.8deg +[05/11 02:31:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:31:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06079922 0.93984719 0.0796125 ] yaw=-149.5deg +[05/11 02:31:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:31:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:31:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.4ms, total=93.4ms +[05/11 02:31:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.636, 0.080) +[05/11 02:31:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.6 deg +[05/11 02:31:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m +[05/11 02:31:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:31:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:31:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:31:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:31:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:31:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 02:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/11 02:31:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:31:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:31:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps +[05/11 02:31:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True +[05/11 02:31:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.460[m] 84.036[deg] +[05/11 02:31:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:32:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:34:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 02:34:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:34:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:34:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:34:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:34:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:34:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.41s (batch: 4.14s, save: 9.27s) +[05/11 02:34:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s: + episode_total: mean=181.68s, total=181.68s, count=1, min=181678.0ms, max=181678.0ms + sensor_polling: mean=457.1ms, total=137.13s, count=300, min=381.7ms, max=767.9ms + save_trajectories: mean=9.27s, total=9.27s, count=1, min=9268.7ms, max=9268.7ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=13.6ms, max=66.9ms + save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.6ms, max=4141.6ms + task_sampling: mean=395.1ms, total=395.1ms, count=1, min=395.1ms, max=395.1ms + task_specific_sample: mean=392.0ms, total=392.0ms, count=1, min=392.0ms, max=392.0ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:34:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:34:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:34:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:34:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:34:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:34:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:34:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:34:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) +[05/11 02:34:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:34:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:34:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084902m +[05/11 02:34:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:34:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:34:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:34:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0400889 0.86388119 0.08490167] yaw=-159.2deg +[05/11 02:34:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:34:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:34:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98715516 1.25390261 0.08490167] yaw=-122.5deg +[05/11 02:34:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:34:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:34:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:34:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:34:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.5ms, total=203.5ms +[05/11 02:34:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.864, 0.085) +[05/11 02:34:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg +[05/11 02:34:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.764m +[05/11 02:34:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:34:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:34:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:34:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:34:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:34:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 02:34:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s +[05/11 02:34:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:34:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:34:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 02:34:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True +[05/11 02:34:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.356[m] 89.143[deg] +[05/11 02:34:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:35:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:35:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:37:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/11 02:37:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:37:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:37:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps +[05/11 02:37:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:37:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:37:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 10.82s (batch: 3.52s, save: 7.29s) +[05/11 02:37:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s: + episode_total: mean=173.98s, total=173.98s, count=1, min=173980.6ms, max=173980.6ms + sensor_polling: mean=461.4ms, total=134.73s, count=292, min=388.6ms, max=761.5ms + save_trajectories: mean=7.29s, total=7.29s, count=1, min=7293.8ms, max=7293.8ms + physics_step: mean=21.2ms, total=6.19s, count=292, min=13.7ms, max=63.6ms + save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3524.3ms, max=3524.3ms + task_sampling: mean=462.0ms, total=462.0ms, count=1, min=462.0ms, max=462.0ms + task_specific_sample: mean=458.4ms, total=458.4ms, count=1, min=458.4ms, max=458.4ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=377.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:37:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:37:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:37:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:37:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:37:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:37:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:37:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:37:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) +[05/11 02:37:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:37:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:37:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089728m +[05/11 02:37:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:37:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:37:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18807468 1.04700973 0.08972793] yaw=-142.9deg +[05/11 02:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12251831 0.98790223 0.08972793] yaw=-147.9deg +[05/11 02:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.72808006 -0.00122954 0.08972793] yaw=162.7deg +[05/11 02:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:37:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:37:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms +[05/11 02:37:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.188, 1.047, 0.090) +[05/11 02:37:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg +[05/11 02:37:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.764m +[05/11 02:37:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:37:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:37:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:37:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:37:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:37:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 02:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/11 02:37:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:37:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:37:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:37:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True +[05/11 02:37:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.341[m] 81.397[deg] +[05/11 02:37:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:39:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:39:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:39:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:39:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps +[05/11 02:39:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.519s, found feasible grasp: True +[05/11 02:39:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.406[deg] +[05/11 02:39:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:39:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:39:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:39:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:39:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:39:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:39:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:39:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:39:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) +[05/11 02:39:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:39:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:39:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036693m +[05/11 02:39:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:39:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:39:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:39:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74754708 0.76089117 0.03669274] yaw=-156.0deg +[05/11 02:39:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:39:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80834344 0.32818121 0.03669274] yaw=169.7deg +[05/11 02:39:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:39:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:39:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:39:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90698341 0.65376373 0.03669274] yaw=-175.1deg +[05/11 02:39:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:39:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:39:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.3ms, total=332.4ms +[05/11 02:39:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.761, 0.037) +[05/11 02:39:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg +[05/11 02:39:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.995m +[05/11 02:39:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:39:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:39:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:39:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:39:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:39:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 02:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.140s +[05/11 02:39:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:39:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:39:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps +[05/11 02:39:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.297s, found feasible grasp: True +[05/11 02:39:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 91.158[deg] +[05/11 02:39:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:39:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:39:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:40:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:42:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/11 02:42:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:42:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:42:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:42:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:42:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:42:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.46s (batch: 4.08s, save: 8.38s) +[05/11 02:42:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.08s: + episode_total: mean=159.92s, total=319.84s, count=2, min=138047.3ms, max=181792.0ms + sensor_polling: mean=451.9ms, total=248.56s, count=550, min=386.5ms, max=994.7ms + physics_step: mean=21.0ms, total=11.53s, count=550, min=15.0ms, max=68.1ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms + save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4076.7ms, max=4076.7ms + task_sampling: mean=538.1ms, total=1.08s, count=2, min=446.5ms, max=629.6ms + task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=443.0ms, max=625.3ms + scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=2.2ms, max=2.3ms + mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=21.0us, 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 +[05/11 02:42:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:42:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:42:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:42:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:42:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:42:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:42:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) +[05/11 02:42:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:42:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:42:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009806m +[05/11 02:42:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:42:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:42:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:42:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:42:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:42:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74702542 0.9272043 0.00980555] yaw=-162.0deg +[05/11 02:42:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:42:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06270977 1.26076053 0.00980555] yaw=-127.9deg +[05/11 02:42:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:42:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:42:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:42:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.6ms +[05/11 02:42:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.927, 0.010) +[05/11 02:42:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg +[05/11 02:42:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m +[05/11 02:42:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:42:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:42:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:42:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:42:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 02:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s +[05/11 02:42:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:42:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:42:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps +[05/11 02:43:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.479s, found feasible grasp: True +[05/11 02:43:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.634[m] 88.835[deg] +[05/11 02:43:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:43:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:44:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:44:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:45:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/11 02:45:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:45:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:45:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:46:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:46:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:46:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.88s (batch: 3.94s, save: 8.94s) +[05/11 02:46:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s: + episode_total: mean=186.17s, total=186.17s, count=1, min=186174.8ms, max=186174.8ms + sensor_polling: mean=449.3ms, total=134.78s, count=300, min=387.0ms, max=835.5ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.2ms, max=8940.2ms + physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=94.8ms + save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3935.5ms, max=3935.5ms + task_sampling: mean=470.1ms, total=470.1ms, count=1, min=470.1ms, max=470.1ms + task_specific_sample: mean=465.4ms, total=465.4ms, count=1, min=465.4ms, max=465.4ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=588.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 +[05/11 02:46:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:46:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:46:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:46:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:46:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) +[05/11 02:46:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:46:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:46:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012958m +[05/11 02:46:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:46:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:46:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86632894 1.18196708 0.01295842] yaw=-132.5deg +[05/11 02:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90974515 0.09898569 0.01295842] yaw=153.1deg +[05/11 02:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66973585 0.51128947 0.01295842] yaw=-170.3deg +[05/11 02:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:46:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:46:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.3ms +[05/11 02:46:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.866, 1.182, 0.013) +[05/11 02:46:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg +[05/11 02:46:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m +[05/11 02:46:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:46:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:46:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:46:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:46:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:46:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 02:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/11 02:46:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:46:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:46:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:46:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.203s, found feasible grasp: True +[05/11 02:46:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int' +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 538, in compute_grasp_pose + original_grasp_idx = grasp_idx % (len(grasp_poses_world) // 2) + ~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TypeError: unsupported operand type(s) for %: 'NoneType' and 'int' +[05/11 02:46:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:46:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:46:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:46:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:46:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:46:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:46:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:46:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) +[05/11 02:46:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:46:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:46:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089093m +[05/11 02:46:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:46:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:46:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:46:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86102986 0.82982191 0.08909347] yaw=-149.0deg +[05/11 02:46:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:46:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:46:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84275858 0.23723363 0.08909347] yaw=171.7deg +[05/11 02:46:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:46:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:46:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:46:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0749041 1.14063254 0.08909347] yaw=-143.6deg +[05/11 02:46:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:46:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:46:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.4ms, total=98.4ms +[05/11 02:46:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.830, 0.089) +[05/11 02:46:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg +[05/11 02:46:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m +[05/11 02:46:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:46:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:46:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:46:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:46:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:46:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s +[05/11 02:46:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:46:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:46:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:46:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True +[05/11 02:46:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.526[m] 99.681[deg] +[05/11 02:46:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:46:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:47:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:48:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 02:48:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:48:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:48:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:49:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:49:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:49:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.58s (batch: 4.21s, save: 9.37s) +[05/11 02:49:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.72s: + episode_total: mean=92.35s, total=184.71s, count=2, min=3729.4ms, max=180977.1ms + sensor_polling: mean=451.0ms, total=135.30s, count=300, min=387.0ms, max=949.8ms + save_trajectories: mean=9.37s, total=9.37s, count=1, min=9369.1ms, max=9369.1ms + physics_step: mean=20.6ms, total=6.18s, count=300, min=13.7ms, max=35.5ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4206.1ms, max=4206.1ms + task_sampling: mean=359.9ms, total=719.8ms, count=2, min=318.4ms, max=401.4ms + task_specific_sample: mean=356.9ms, total=713.8ms, count=2, min=315.8ms, max=398.0ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms + mj_forward_sync: mean=364.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:49:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:49:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:49:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:49:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) +[05/11 02:49:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:49:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:49:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083963m +[05/11 02:49:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:49:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:49:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790689 0.08961169 0.08396345] yaw=148.8deg +[05/11 02:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93962969 0.36751884 0.08396345] yaw=176.1deg +[05/11 02:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:49:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:49:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.1ms +[05/11 02:49:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.090, 0.084) +[05/11 02:49:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg +[05/11 02:49:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m +[05/11 02:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:49:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:49:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 02:49:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s +[05/11 02:49:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:49:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:49:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 02:49:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.672s, found feasible grasp: True +[05/11 02:49:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.354[m] 91.163[deg] +[05/11 02:49:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:49:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:49:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:50:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:50:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:50:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:50:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:50:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:51:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:51:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:51:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:51:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:51:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:51:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:51:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:51:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps +[05/11 02:51:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True +[05/11 02:51:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.270[deg] +[05/11 02:51:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:51:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:51:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:51:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:51:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:51:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:51:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:51:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:51:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) +[05/11 02:51:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:51:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:51:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007843m +[05/11 02:51:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:51:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:51:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:51:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:51:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93806868 0.64586717 0.00784276] yaw=-157.2deg +[05/11 02:51:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:51:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74378501 0.05424597 0.00784276] yaw=145.3deg +[05/11 02:51:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:51:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:51:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:51:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82582189 0.82551053 0.00784276] yaw=-169.4deg +[05/11 02:51:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:51:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:51:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.6ms, total=109.6ms +[05/11 02:51:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.646, 0.008) +[05/11 02:51:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg +[05/11 02:51:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m +[05/11 02:51:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:51:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:51:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:51:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:51:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:51:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 02:51:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s +[05/11 02:51:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:51:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:51:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps +[05/11 02:51:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True +[05/11 02:51:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.350[m] 88.098[deg] +[05/11 02:51:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:51:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_014/shard_3_of_4.log b/fridge_7/chunk_014/shard_3_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..cd19b913d4f5f8431cb45824eb935bd46d52f230 --- /dev/null +++ b/fridge_7/chunk_014/shard_3_of_4.log @@ -0,0 +1,1324 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014 + shard=3/4 seed=21403 samples=3 + CUDA_VISIBLE_DEVICES=2 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 02:21:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 02:21:35 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 02:21:35 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21403, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:35 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 02:21:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 02:21:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 124810307768784 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 124810307768784 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 124810307768784 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 124810307768784 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 124810309662096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124810309662096 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 124810309654736 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124810309654736 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 124810309654736 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124810309654736 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 124810309662096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124810309662096 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 124810307797264 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124810307797264 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 124810307798416 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124810307798416 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 124810307798416 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124810307798416 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 124810307797264 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124810307797264 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 02:21:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 02:21:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 02:21:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) +[05/11 02:21:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:21:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:21:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013416m +[05/11 02:21:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:21:39 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 02:21:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.69721468 0.10266618 0.01341643] yaw=167.0deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80623151 1.05066672 0.01341643] yaw=-153.0deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01906921 1.25750828 0.01341643] yaw=-122.1deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=42.8ms, retries=200.3ms, total=243.2ms +[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.103, 0.013) +[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m +[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:21:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 02:22:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.193s +[05/11 02:22:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:22:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:22:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.595s, found feasible grasp: True +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.632[m] 91.126[deg] +[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:23:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:24:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 02:24:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:24:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:24:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:25:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 02:25:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:25:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.78s (batch: 4.03s, save: 7.75s) +[05/11 02:25:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.02s: + episode_total: mean=210.33s, total=210.33s, count=1, min=210325.4ms, max=210325.4ms + sensor_polling: mean=461.6ms, total=138.48s, count=300, min=389.0ms, max=749.3ms + save_trajectories: mean=7.75s, total=7.75s, count=1, min=7748.4ms, max=7748.4ms + physics_step: mean=23.4ms, total=7.01s, count=300, min=16.9ms, max=62.0ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.5ms, max=4029.5ms + task_sampling: mean=4.02s, total=4.02s, count=1, min=4017.8ms, max=4017.8ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms + scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms + compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms + task_specific_sample: mean=587.4ms, total=587.4ms, count=1, min=587.4ms, max=587.4ms + scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms + compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms + compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + mj_forward_sync: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=42.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:25:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:25:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:25:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:25:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m) +[05/11 02:25:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:25:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:25:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039435m +[05/11 02:25:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:25:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:25:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93086443 0.58635552 0.0394351 ] yaw=-163.6deg +[05/11 02:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18172693 1.12962116 0.0394351 ] yaw=-131.4deg +[05/11 02:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.73843347 0.63843656 0.0394351 ] yaw=-171.2deg +[05/11 02:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:25:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:25:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.0ms, total=182.1ms +[05/11 02:25:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.586, 0.039) +[05/11 02:25:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg +[05/11 02:25:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m +[05/11 02:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:25:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 02:25:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s +[05/11 02:25:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:25:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:25:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps +[05/11 02:25:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True +[05/11 02:25:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.308[m] 83.040[deg] +[05/11 02:25:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:25:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:25:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:27:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +[05/11 02:27:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:27:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:27:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 283 timesteps +[05/11 02:27:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:27:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:27:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 10.77s (batch: 3.45s, save: 7.32s) +[05/11 02:27:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s: + episode_total: mean=171.49s, total=171.49s, count=1, min=171491.8ms, max=171491.8ms + sensor_polling: mean=466.4ms, total=131.53s, count=282, min=391.0ms, max=761.7ms + save_trajectories: mean=7.32s, total=7.32s, count=1, min=7320.6ms, max=7320.6ms + physics_step: mean=22.6ms, total=6.37s, count=282, min=13.9ms, max=60.6ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3453.3ms, max=3453.3ms + task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms + task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=869.1us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:28:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:28:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:28:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:28:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:28:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) +[05/11 02:28:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:28:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:28:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003502m +[05/11 02:28:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:28:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:28:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76730007 0.59920733 0.00350183] yaw=-177.2deg +[05/11 02:28:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:28:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:28:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms +[05/11 02:28:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.599, 0.004) +[05/11 02:28:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg +[05/11 02:28:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m +[05/11 02:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:28:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:28:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:28:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 02:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True +[05/11 02:28:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.480[m] 81.781[deg] +[05/11 02:28:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:30:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/11 02:30:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:30:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:30:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:31:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:31:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:31:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.62s (batch: 3.83s, save: 7.80s) +[05/11 02:31:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s: + episode_total: mean=181.65s, total=181.65s, count=1, min=181652.1ms, max=181652.1ms + sensor_polling: mean=462.9ms, total=138.88s, count=300, min=391.5ms, max=765.7ms + save_trajectories: mean=7.80s, total=7.80s, count=1, min=7797.2ms, max=7797.2ms + physics_step: mean=23.5ms, total=7.04s, count=300, min=13.5ms, max=55.7ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3825.9ms, max=3825.9ms + task_sampling: mean=474.8ms, total=474.8ms, count=1, min=474.8ms, max=474.8ms + task_specific_sample: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=380.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:31:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:31:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:31:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:31:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:31:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) +[05/11 02:31:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:31:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:31:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032261m +[05/11 02:31:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:31:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:31:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:31:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98235051 0.81034716 0.03226122] yaw=-144.5deg +[05/11 02:31:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:31:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65658847 0.24548117 0.03226122] yaw=162.4deg +[05/11 02:31:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:31:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:31:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:31:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:31:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:31:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=202.2ms, total=202.2ms +[05/11 02:31:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.810, 0.032) +[05/11 02:31:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg +[05/11 02:31:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m +[05/11 02:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:31:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:31:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:31:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 02:31:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s +[05/11 02:31:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:31:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:31:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:31:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True +[05/11 02:31:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.312[m] 77.746[deg] +[05/11 02:31:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:31:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:31:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:31:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:31:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:33:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 02:33:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:33:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:33:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 284 timesteps +[05/11 02:33:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:33:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:33:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.01s (batch: 3.77s, save: 7.24s) +[05/11 02:33:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s: + episode_total: mean=173.80s, total=173.80s, count=1, min=173802.0ms, max=173802.0ms + sensor_polling: mean=461.9ms, total=130.70s, count=283, min=389.2ms, max=910.9ms + save_trajectories: mean=7.24s, total=7.24s, count=1, min=7239.7ms, max=7239.7ms + physics_step: mean=21.9ms, total=6.20s, count=283, min=14.1ms, max=57.6ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3765.3ms, max=3765.3ms + task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms + task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=385.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:33:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:33:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:33:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:33:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) +[05/11 02:33:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:33:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:33:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064566m +[05/11 02:33:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:33:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:33:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93896747 0.37630092 0.06456601] yaw=163.2deg +[05/11 02:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83351412 0.86076288 0.06456601] yaw=-158.0deg +[05/11 02:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95518204 0.74435562 0.06456601] yaw=-151.2deg +[05/11 02:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:33:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:33:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.7ms, total=209.7ms +[05/11 02:33:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.376, 0.065) +[05/11 02:33:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg +[05/11 02:33:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m +[05/11 02:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:33:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:33:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 02:33:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s +[05/11 02:33:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:33:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:33:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps +[05/11 02:34:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True +[05/11 02:34:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 93.006[deg] +[05/11 02:34:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:34:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:34:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:34:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:34:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:35:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:35:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:35:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:35:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:35:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:35:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps +[05/11 02:35:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True +[05/11 02:35:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.492[deg] +[05/11 02:35:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:35:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:35:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:35:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:35:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:35:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:35:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:35:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:35:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) +[05/11 02:35:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:35:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:35:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034915m +[05/11 02:35:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:35:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:35:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:35:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18345275 1.12745388 0.03491549] yaw=-119.3deg +[05/11 02:35:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:35:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70260526 0.93739914 0.03491549] yaw=-149.0deg +[05/11 02:35:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:35:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94196049 0.60457112 0.03491549] yaw=-177.6deg +[05/11 02:35:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:35:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:35:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.4ms +[05/11 02:35:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.183, 1.127, 0.035) +[05/11 02:35:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.3 deg +[05/11 02:35:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m +[05/11 02:35:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:35:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:35:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:35:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:35:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:35:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 02:35:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s +[05/11 02:35:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:35:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:35:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/11 02:35:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True +[05/11 02:35:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 105.346[deg] +[05/11 02:35:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:35:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:35:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:36:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:36:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:37:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:37:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:37:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:37:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:37:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:37:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:37:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:37:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:37:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:37:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:37:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:37:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps +[05/11 02:37:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 2.576s, found feasible grasp: True +[05/11 02:37:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.113[m] 5.471[deg] +[05/11 02:37:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 02:38:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:38:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:38:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps +[05/11 02:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 1.434s, found feasible grasp: True +[05/11 02:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.114[m] 2.477[deg] +[05/11 02:38:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:38:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:38:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:38:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:38:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:38:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) +[05/11 02:38:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:38:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:38:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036486m +[05/11 02:38:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:38:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:38:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94753425 0.42741406 0.03648631] yaw=176.7deg +[05/11 02:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:38:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:38:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms +[05/11 02:38:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.427, 0.036) +[05/11 02:38:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.7 deg +[05/11 02:38:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.757m +[05/11 02:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:38:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:38:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:38:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 02:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.386s, found feasible grasp: True +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.331[m] 96.821[deg] +[05/11 02:38:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:39:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:39:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:39:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:39:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:39:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:40:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:40:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:40:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:40:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:40:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps +[05/11 02:40:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True +[05/11 02:40:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg] +[05/11 02:40:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:40:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:40:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:40:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:40:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:40:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:40:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:40:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:40:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) +[05/11 02:40:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:40:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:40:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060962m +[05/11 02:40:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:40:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:40:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:40:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:40:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:40:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80351157 1.09458717 0.06096196] yaw=-137.2deg +[05/11 02:40:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:40:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72449173 0.2670605 0.06096196] yaw=173.9deg +[05/11 02:40:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:40:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:40:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90305243 0.7429319 0.06096196] yaw=-162.9deg +[05/11 02:40:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:40:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:40:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.8ms +[05/11 02:40:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.095, 0.061) +[05/11 02:40:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg +[05/11 02:40:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m +[05/11 02:40:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:40:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:40:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:40:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:40:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:40:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 02:40:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s +[05/11 02:40:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:40:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:40:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps +[05/11 02:40:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.380s, found feasible grasp: True +[05/11 02:40:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.317[deg] +[05/11 02:40:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:40:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:40:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:40:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:40:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:40:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) +[05/11 02:40:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:40:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:40:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096104m +[05/11 02:40:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:40:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:40:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:40:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:40:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99274547 0.94258334 0.09610424] yaw=-156.5deg +[05/11 02:40:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:40:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:40:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06690562 0.91988958 0.09610424] yaw=-138.2deg +[05/11 02:40:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:40:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:40:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9306923 0.81507989 0.09610424] yaw=-149.6deg +[05/11 02:40:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:40:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:40:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms +[05/11 02:40:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.993, 0.943, 0.096) +[05/11 02:40:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg +[05/11 02:40:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m +[05/11 02:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:40:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:40:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 02:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s +[05/11 02:40:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:40:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:40:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps +[05/11 02:40:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True +[05/11 02:40:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.452[m] 90.564[deg] +[05/11 02:40:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:40:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:41:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:42:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 02:43:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:43:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:43:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:43:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:43:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:43:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.70s (batch: 3.77s, save: 7.93s) +[05/11 02:43:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=2.25s: + episode_total: mean=109.32s, total=546.60s, count=5, min=2921.1ms, max=181064.9ms + sensor_polling: mean=456.4ms, total=421.71s, count=924, min=385.6ms, max=856.8ms + physics_step: mean=21.7ms, total=20.01s, count=924, min=13.9ms, max=60.7ms + save_trajectories: mean=7.93s, total=7.93s, count=1, min=7933.1ms, max=7933.1ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3766.5ms, max=3766.5ms + task_sampling: mean=450.1ms, total=2.25s, count=5, min=393.9ms, max=502.6ms + task_specific_sample: mean=447.0ms, total=2.23s, count=5, min=390.8ms, max=499.5ms + scene_randomize: mean=1.5ms, total=7.4ms, count=5, min=1.1ms, max=2.3ms + mj_forward_sync: mean=403.2us, total=2.0ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=19.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms +[05/11 02:43:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:43:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:43:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:43:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:43:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:43:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:43:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:43:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) +[05/11 02:43:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:43:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:43:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081645m +[05/11 02:43:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:43:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:43:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:43:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9308983 0.39664266 0.08164505] yaw=176.0deg +[05/11 02:43:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:43:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97091112 0.10641144 0.08164505] yaw=142.4deg +[05/11 02:43:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:43:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:43:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15738571 1.11607121 0.08164505] yaw=-127.3deg +[05/11 02:43:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:43:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:43:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms +[05/11 02:43:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.397, 0.082) +[05/11 02:43:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg +[05/11 02:43:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m +[05/11 02:43:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:43:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:43:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:43:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:43:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:43:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 02:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/11 02:43:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:43:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:43:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps +[05/11 02:43:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.399s, found feasible grasp: True +[05/11 02:43:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.349[m] 95.858[deg] +[05/11 02:43:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:44:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:44:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:44:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.099s, found 78 non-colliding grasps +[05/11 02:44:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.614s, found feasible grasp: True +[05/11 02:44:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.675[deg] +[05/11 02:44:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:44:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) +[05/11 02:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028290m +[05/11 02:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:44:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:44:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92581603 0.4572776 0.02829025] yaw=184.9deg +[05/11 02:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78507727 0.85804967 0.02829025] yaw=-150.9deg +[05/11 02:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96612743 0.92877818 0.02829025] yaw=-158.0deg +[05/11 02:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:44:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:44:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.4ms +[05/11 02:44:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.457, 0.028) +[05/11 02:44:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 184.9 deg +[05/11 02:44:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m +[05/11 02:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:44:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:44:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 02:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s +[05/11 02:44:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:44:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:44:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps +[05/11 02:44:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True +[05/11 02:44:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 100.786[deg] +[05/11 02:44:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:45:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:45:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:45:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:46:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:46:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:46:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:46:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:46:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:46:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:46:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:46:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps +[05/11 02:46:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.351s, found feasible grasp: True +[05/11 02:46:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.405[deg] +[05/11 02:46:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:46:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:46:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:47:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:47:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:47:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:47:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:47:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 02:47:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:47:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:47:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps +[05/11 02:47:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 3.419s, found feasible grasp: True +[05/11 02:47:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.049[deg] +[05/11 02:47:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:47:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 02:48:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:48:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:48:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:48:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:48:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:48:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.44s (batch: 4.04s, save: 8.40s) +[05/11 02:48:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.88s: + episode_total: mean=152.29s, total=304.58s, count=2, min=96724.6ms, max=207860.0ms + sensor_polling: mean=455.1ms, total=215.27s, count=473, min=395.6ms, max=853.3ms + physics_step: mean=21.7ms, total=10.25s, count=473, min=13.2ms, max=71.8ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8401.0ms, max=8401.0ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms + task_sampling: mean=440.0ms, total=879.9ms, count=2, min=403.2ms, max=476.7ms + task_specific_sample: mean=436.5ms, total=873.1ms, count=2, min=399.7ms, max=473.3ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms + mj_forward_sync: mean=466.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=17.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:48:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:48:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:48:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:48:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:48:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:48:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:48:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:48:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) +[05/11 02:48:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:48:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:48:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051442m +[05/11 02:48:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:48:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:48:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:48:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:48:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6800652 0.4410362 0.05144215] yaw=177.1deg +[05/11 02:48:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:48:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:48:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12030799 1.01022821 0.05144215] yaw=-135.5deg +[05/11 02:48:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:48:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.708727 0.11066344 0.05144215] yaw=150.8deg +[05/11 02:48:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:48:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:48:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.5ms, total=93.5ms +[05/11 02:48:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.441, 0.051) +[05/11 02:48:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg +[05/11 02:48:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.023m +[05/11 02:48:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:48:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:48:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:48:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:48:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 02:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/11 02:48:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:48:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:48:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:48:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True +[05/11 02:48:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.625[m] 105.551[deg] +[05/11 02:48:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:49:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:49:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:49:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:50:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 02:51:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:51:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:51:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:51:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:51:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:51:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.73s (batch: 3.80s, save: 7.94s) +[05/11 02:51:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.35s: + episode_total: mean=184.61s, total=184.61s, count=1, min=184607.9ms, max=184607.9ms + sensor_polling: mean=454.6ms, total=136.39s, count=300, min=383.3ms, max=895.0ms + save_trajectories: mean=7.94s, total=7.94s, count=1, min=7935.9ms, max=7935.9ms + physics_step: mean=22.3ms, total=6.68s, count=300, min=14.1ms, max=77.0ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.9ms, max=3795.9ms + task_sampling: mean=346.6ms, total=346.6ms, count=1, min=346.6ms, max=346.6ms + task_specific_sample: mean=343.0ms, total=343.0ms, count=1, min=343.0ms, max=343.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=373.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:51:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:51:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:51:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:51:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:51:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:51:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:51:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:51:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) +[05/11 02:51:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:51:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:51:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091385m +[05/11 02:51:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:51:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:51:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:51:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02322248 1.25505167 0.09138471] yaw=-139.1deg +[05/11 02:51:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:51:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0511847 0.88939376 0.09138471] yaw=-142.3deg +[05/11 02:51:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:51:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84408061 0.34259098 0.09138471] yaw=162.0deg +[05/11 02:51:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:51:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:51:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.8ms, total=61.8ms +[05/11 02:51:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.255, 0.091) +[05/11 02:51:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg +[05/11 02:51:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m +[05/11 02:51:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:51:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:51:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:51:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:51:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:51:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 02:51:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/11 02:51:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:51:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:51:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:51:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.601s, found feasible grasp: True +[05/11 02:51:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.637[m] 73.934[deg] +[05/11 02:51:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:51:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:51:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:52:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:52:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:52:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:53:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:53:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:53:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 diff --git a/fridge_7/chunk_014/shard_4_of_4.log b/fridge_7/chunk_014/shard_4_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..03de06d5f975ab38de843a45cdc5d3ae7a420167 --- /dev/null +++ b/fridge_7/chunk_014/shard_4_of_4.log @@ -0,0 +1,1223 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_014 + shard=4/4 seed=21404 samples=3 + CUDA_VISIBLE_DEVICES=3 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:36 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 02:21:36 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 02:21:36 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_014'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 02:21:36 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_014'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': 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_7', + 'seed': 21404, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:21:36 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 02:21:36 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 02:21:36 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 130253006037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130253006037072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 130253006037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130253006037072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 130253009239952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130253009239952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130253009239568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130253009239568 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130253009239568 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130253009239568 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130253009239952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130253009239952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130253006063760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130253006063760 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130253006068880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130253006068880 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 130253006068880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130253006068880 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130253006063760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130253006063760 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 02:21:36 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 02:21:39 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 02:21:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:21:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) +[05/11 02:21:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:21:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:21:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023323m +[05/11 02:21:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:21:39 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 02:21:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7266121 0.36617649 0.02332285] yaw=180.9deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:21:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04214117 1.21163419 0.02332285] yaw=-130.3deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:21:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83310058 0.7783996 0.02332285] yaw=-163.7deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:21:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:21:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=22.1ms, retries=264.0ms, total=286.2ms +[05/11 02:21:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.366, 0.023) +[05/11 02:21:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg +[05/11 02:21:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m +[05/11 02:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:21:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:21:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:21:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 02:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.510s +[05/11 02:22:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:22:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:22:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.898s, found feasible grasp: True +[05/11 02:22:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.549[m] 90.079[deg] +[05/11 02:22:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:22:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:23:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:23:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:24:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 02:25:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:25:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:25:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:25:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 02:25:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:25:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 4.04s, save: 9.47s) +[05/11 02:25:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.12s: + episode_total: mean=224.19s, total=224.19s, count=1, min=224189.0ms, max=224189.0ms + sensor_polling: mean=462.0ms, total=138.61s, count=300, min=399.2ms, max=713.3ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9467.6ms, max=9467.6ms + physics_step: mean=21.3ms, total=6.40s, count=300, min=16.5ms, max=56.1ms + task_sampling: mean=4.12s, total=4.12s, count=1, min=4119.6ms, max=4119.6ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4043.8ms, max=4043.8ms + scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms + scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms + compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms + task_specific_sample: mean=662.0ms, total=662.0ms, count=1, min=662.0ms, max=662.0ms + compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms + scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms + scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms + compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=695.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=51.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms +[05/11 02:25:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:25:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:25:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:25:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:25:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:25:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:25:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:25:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) +[05/11 02:25:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:25:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:25:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014185m +[05/11 02:25:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:25:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:25:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82171138 0.81580547 0.01418464] yaw=-152.8deg +[05/11 02:25:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:25:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:25:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95659678 1.09017723 0.01418464] yaw=-146.1deg +[05/11 02:25:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:25:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89995895 1.12767956 0.01418464] yaw=-146.9deg +[05/11 02:25:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:25:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:25:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.3ms, total=174.3ms +[05/11 02:25:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.816, 0.014) +[05/11 02:25:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg +[05/11 02:25:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m +[05/11 02:25:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:25:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:25:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:25:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:25:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:25:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 02:25:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s +[05/11 02:25:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:25:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:25:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:25:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True +[05/11 02:25:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.515[m] 89.867[deg] +[05/11 02:25:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:26:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:27:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +[05/11 02:28:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:28:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:28:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:28:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:28:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:28:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.01s (batch: 3.62s, save: 9.39s) +[05/11 02:28:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s: + episode_total: mean=179.03s, total=179.03s, count=1, min=179026.3ms, max=179026.3ms + sensor_polling: mean=456.5ms, total=136.95s, count=300, min=389.3ms, max=731.4ms + save_trajectories: mean=9.39s, total=9.39s, count=1, min=9392.6ms, max=9392.6ms + physics_step: mean=20.9ms, total=6.27s, count=300, min=16.3ms, max=54.1ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3621.9ms, max=3621.9ms + task_sampling: mean=411.1ms, total=411.1ms, count=1, min=411.1ms, max=411.1ms + task_specific_sample: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms + scene_randomize: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms + mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:28:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:28:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:28:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:28:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:28:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:28:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:28:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:28:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) +[05/11 02:28:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:28:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:28:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053803m +[05/11 02:28:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:28:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:28:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:28:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:28:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98911871 1.08409145 0.05380325] yaw=-133.5deg +[05/11 02:28:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:28:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6849669 0.57716772 0.05380325] yaw=-173.9deg +[05/11 02:28:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:28:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.62339229 0.59432756 0.05380325] yaw=-169.1deg +[05/11 02:28:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:28:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:28:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.3ms +[05/11 02:28:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.084, 0.054) +[05/11 02:28:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg +[05/11 02:28:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.933m +[05/11 02:28:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:28:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:28:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:28:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:28:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:28:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 02:28:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s +[05/11 02:28:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:28:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:28:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:28:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.067s, found feasible grasp: True +[05/11 02:28:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.509[m] 83.804[deg] +[05/11 02:28:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:28:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:28:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:29:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:30:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:30:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:30:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:30:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:30:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:30:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:30:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:30:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:30:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps +[05/11 02:30:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.393s, found feasible grasp: True +[05/11 02:30:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.533[deg] +[05/11 02:30:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:30:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:30:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:30:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:30:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:30:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) +[05/11 02:30:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:30:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:30:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030251m +[05/11 02:30:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:30:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:30:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:30:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07400456 0.90703004 0.03025106] yaw=-155.5deg +[05/11 02:30:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:30:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.783973 0.44205729 0.03025106] yaw=176.4deg +[05/11 02:30:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:30:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:30:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96821675 0.2777833 0.03025106] yaw=169.4deg +[05/11 02:30:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:30:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:30:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.6ms, total=80.6ms +[05/11 02:30:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.907, 0.030) +[05/11 02:30:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg +[05/11 02:30:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.759m +[05/11 02:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:30:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:30:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 02:30:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s +[05/11 02:30:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:30:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:30:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:30:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True +[05/11 02:30:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.343[m] 88.262[deg] +[05/11 02:30:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:30:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:30:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:31:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:31:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:33:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 02:33:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:33:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:33:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 291 timesteps +[05/11 02:33:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:33:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:33:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.64s (batch: 3.95s, save: 7.69s) +[05/11 02:33:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s: + episode_total: mean=164.45s, total=328.91s, count=2, min=151377.0ms, max=177531.6ms + sensor_polling: mean=451.0ms, total=261.59s, count=580, min=381.3ms, max=890.1ms + physics_step: mean=21.0ms, total=12.20s, count=580, min=13.6ms, max=66.9ms + save_trajectories: mean=7.69s, total=7.69s, count=1, min=7687.3ms, max=7687.3ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.5ms, max=3949.5ms + task_sampling: mean=377.2ms, total=754.4ms, count=2, min=303.2ms, max=451.3ms + task_specific_sample: mean=374.1ms, total=748.2ms, count=2, min=300.3ms, max=447.8ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms + mj_forward_sync: mean=376.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.6us, 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 +[05/11 02:33:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:33:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:33:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:33:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:33:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:33:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:33:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:33:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) +[05/11 02:33:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:33:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:33:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093887m +[05/11 02:33:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:33:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:33:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:33:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:33:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86813067 0.03715406 0.09388653] yaw=143.6deg +[05/11 02:33:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:33:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:33:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02167961 1.31369819 0.09388653] yaw=-135.7deg +[05/11 02:33:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:33:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62939702 0.68539731 0.09388653] yaw=-163.2deg +[05/11 02:33:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:33:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:33:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.2ms, total=100.2ms +[05/11 02:33:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.037, 0.094) +[05/11 02:33:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 143.6 deg +[05/11 02:33:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.945m +[05/11 02:33:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:33:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:33:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:33:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:33:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:33:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 02:33:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s +[05/11 02:33:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:33:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:33:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 02:33:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True +[05/11 02:33:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.527[m] 92.453[deg] +[05/11 02:33:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:34:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:35:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:36:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:36:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:36:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:36:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:36:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:36:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:36:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:36:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:36:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps +[05/11 02:36:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.417s, found feasible grasp: True +[05/11 02:36:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.205[deg] +[05/11 02:36:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) +[05/11 02:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005196m +[05/11 02:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03576071 1.2444554 0.0051962 ] yaw=-133.7deg +[05/11 02:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92109879 0.28338814 0.0051962 ] yaw=174.3deg +[05/11 02:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:36:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:36:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.7ms +[05/11 02:36:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.244, 0.005) +[05/11 02:36:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg +[05/11 02:36:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.013m +[05/11 02:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 02:36:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s +[05/11 02:36:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:36:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:36:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:36:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.433s, found feasible grasp: True +[05/11 02:36:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.593[m] 88.553[deg] +[05/11 02:36:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:37:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:38:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:38:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:38:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:38:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:38:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:38:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:38:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps +[05/11 02:38:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.420s, found feasible grasp: False +[05/11 02:38:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/11 02:38:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:38:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:38:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:38:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) +[05/11 02:38:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:38:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:38:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044895m +[05/11 02:38:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:38:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:38:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02547389 1.07744934 0.04489506] yaw=-139.5deg +[05/11 02:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99268519 1.16520856 0.04489506] yaw=-134.3deg +[05/11 02:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98416081 1.20901535 0.04489506] yaw=-131.2deg +[05/11 02:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:38:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:38:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.6ms, total=165.6ms +[05/11 02:38:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.025, 1.077, 0.045) +[05/11 02:38:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg +[05/11 02:38:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.902m +[05/11 02:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:38:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:38:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 02:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:38:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps +[05/11 02:38:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.001s, found feasible grasp: True +[05/11 02:38:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.535[m] 92.118[deg] +[05/11 02:38:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:38:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:38:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:38:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:38:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:38:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:38:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:38:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:38:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) +[05/11 02:38:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:38:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:38:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004365m +[05/11 02:38:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:38:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:38:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95822872 0.6038591 0.00436462] yaw=-164.5deg +[05/11 02:38:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:38:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:38:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74973339 -0.00523651 0.00436462] yaw=146.5deg +[05/11 02:38:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:38:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:38:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.4ms, total=167.4ms +[05/11 02:38:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.604, 0.004) +[05/11 02:38:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg +[05/11 02:38:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.754m +[05/11 02:38:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:38:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:38:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:38:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:38:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:38:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 02:38:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s +[05/11 02:38:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:38:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:38:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps +[05/11 02:38:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.433s, found feasible grasp: True +[05/11 02:38:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.281[m] 81.013[deg] +[05/11 02:38:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:39:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:40:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/11 02:41:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:41:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:41:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 278 timesteps +[05/11 02:41:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:41:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:41:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.51s (batch: 3.72s, save: 9.79s) +[05/11 02:41:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s: + episode_total: mean=111.22s, total=444.88s, count=4, min=4505.4ms, max=171138.8ms + sensor_polling: mean=453.8ms, total=350.34s, count=772, min=378.3ms, max=1044.9ms + physics_step: mean=20.7ms, total=16.02s, count=772, min=13.5ms, max=143.6ms + save_trajectories: mean=9.79s, total=9.79s, count=1, min=9791.8ms, max=9791.8ms + save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.4ms, max=3718.4ms + task_sampling: mean=388.0ms, total=1.55s, count=4, min=342.7ms, max=423.3ms + task_specific_sample: mean=384.1ms, total=1.54s, count=4, min=339.5ms, max=420.4ms + scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.1ms, max=2.1ms + mj_forward_sync: mean=1.1ms, total=4.2ms, count=4, min=0.4ms, max=3.1ms + policy_setup: mean=20.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms +[05/11 02:41:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:41:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:41:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:41:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:41:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:41:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:41:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:41:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) +[05/11 02:41:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:41:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:41:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063864m +[05/11 02:41:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:41:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:41:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:41:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:41:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:41:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00927798 1.02095232 0.06386404] yaw=-147.7deg +[05/11 02:41:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:41:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63639876 0.59920286 0.06386404] yaw=-174.4deg +[05/11 02:41:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:41:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:41:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12112189 1.04961567 0.06386404] yaw=-136.6deg +[05/11 02:41:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:41:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:41:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.0ms, total=101.0ms +[05/11 02:41:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.021, 0.064) +[05/11 02:41:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg +[05/11 02:41:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m +[05/11 02:41:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:41:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:41:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:41:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:41:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:41:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 02:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s +[05/11 02:41:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:41:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:41:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:41:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True +[05/11 02:41:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.459[m] 89.324[deg] +[05/11 02:41:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:42:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:42:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:42:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:43:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:43:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:43:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:43:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:43:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:43:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:43:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:43:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:43:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:43:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps +[05/11 02:43:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True +[05/11 02:43:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.315[deg] +[05/11 02:43:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:44:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:44:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:44:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:44:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) +[05/11 02:44:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:44:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:44:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085501m +[05/11 02:44:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:44:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:44:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77714369 0.43511158 0.08550133] yaw=180.9deg +[05/11 02:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93775456 0.67732739 0.08550133] yaw=-174.7deg +[05/11 02:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:44:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:44:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.2ms, total=166.3ms +[05/11 02:44:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.435, 0.086) +[05/11 02:44:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg +[05/11 02:44:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m +[05/11 02:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:44:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:44:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 02:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s +[05/11 02:44:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:44:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:44:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps +[05/11 02:44:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.456s, found feasible grasp: True +[05/11 02:44:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.461[m] 91.153[deg] +[05/11 02:44:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:44:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:45:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:46:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:46:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:46:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:46:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps +[05/11 02:46:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.313s, found feasible grasp: True +[05/11 02:46:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.631[deg] +[05/11 02:46:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:46:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:46:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:46:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 02:47:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:47:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:47:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:47:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:47:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:47:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.52s (batch: 3.86s, save: 8.66s) +[05/11 02:47:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.80s: + episode_total: mean=175.42s, total=350.85s, count=2, min=154120.1ms, max=196728.5ms + sensor_polling: mean=447.3ms, total=267.46s, count=598, min=382.8ms, max=957.7ms + physics_step: mean=21.2ms, total=12.66s, count=598, min=12.4ms, max=95.9ms + save_trajectories: mean=8.66s, total=8.66s, count=1, min=8659.2ms, max=8659.2ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.8ms, max=3857.8ms + task_sampling: mean=399.1ms, total=798.1ms, count=2, min=397.9ms, max=400.3ms + task_specific_sample: mean=395.2ms, total=790.4ms, count=2, min=393.5ms, max=396.9ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.2ms, max=2.5ms + mj_forward_sync: mean=468.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:47:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:47:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:47:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:47:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:47:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:47:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:47:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:47:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) +[05/11 02:47:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:47:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:47:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083837m +[05/11 02:47:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:47:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:47:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:47:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:47:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02372407 0.8349774 0.08383687] yaw=-144.9deg +[05/11 02:47:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:47:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:47:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89440444 1.00927682 0.08383687] yaw=-144.1deg +[05/11 02:47:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:47:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10665283 1.09181924 0.08383687] yaw=-134.3deg +[05/11 02:47:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:47:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:47:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.0ms, total=339.0ms +[05/11 02:47:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.835, 0.084) +[05/11 02:47:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.9 deg +[05/11 02:47:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.765m +[05/11 02:47:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:47:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:47:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:47:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:47:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:47:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 02:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s +[05/11 02:47:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:47:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:47:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps +[05/11 02:47:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.293s, found feasible grasp: True +[05/11 02:47:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.384[m] 93.260[deg] +[05/11 02:47:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:48:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:49:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 02:50:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:50:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:50:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:50:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:50:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:50:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.20s (batch: 3.88s, save: 8.32s) +[05/11 02:50:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.64s: + episode_total: mean=184.88s, total=184.88s, count=1, min=184882.9ms, max=184882.9ms + sensor_polling: mean=459.4ms, total=137.83s, count=300, min=392.9ms, max=785.9ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8318.1ms, max=8318.1ms + physics_step: mean=21.3ms, total=6.38s, count=300, min=15.6ms, max=53.1ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms + task_sampling: mean=640.1ms, total=640.1ms, count=1, min=640.1ms, max=640.1ms + task_specific_sample: mean=636.1ms, total=636.1ms, count=1, min=636.1ms, max=636.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=526.7us, 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 +[05/11 02:50:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:50:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:50:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:50:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:50:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:50:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:50:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:50:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) +[05/11 02:50:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:50:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:50:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062174m +[05/11 02:50:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:50:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:50:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94709228 0.77851438 0.06217409] yaw=-149.5deg +[05/11 02:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:50:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:50:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70206733 0.41102557 0.06217409] yaw=184.8deg +[05/11 02:50:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:50:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68085066 0.42511192 0.06217409] yaw=165.9deg +[05/11 02:50:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:50:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:50:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=327.5ms, total=327.6ms +[05/11 02:50:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.779, 0.062) +[05/11 02:50:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg +[05/11 02:50:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m +[05/11 02:50:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:50:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:50:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:50:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:50:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:50:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 02:50:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s +[05/11 02:50:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:50:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:50:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps +[05/11 02:50:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.310s, found feasible grasp: True +[05/11 02:50:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.490[deg] +[05/11 02:50:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:51:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:51:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:51:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:52:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 02:53:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:53:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:53:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps diff --git a/fridge_7/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2cebd1fa7182488eb778c56d3de6c04273f7e457 --- /dev/null +++ b/fridge_7/chunk_014/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3184b8b8f202a23f884d06badaa93a75e27796c228b5a5ac031c39791153a9cb +size 651738732 diff --git a/fridge_7/chunk_014/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_7/chunk_014/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 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