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0000000000000000000000000000000000000000..136e128421531054f130a9712ff5b5cf26a24f19 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_100/episode_00000012_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:916bf2d142cabe386dcf193ea6c8b49cd3d35c9ab8c64f1d436b898d19f9e601 +size 397297 diff --git a/fridge_m/sim_chunks/chunk_100/running_log.log b/fridge_m/sim_chunks/chunk_100/running_log.log index 6b47db21f0fd5b75d845a4fbbdb2f0c33a5d24f8..79f30b01bda503d6c1c46d47440b715bd546c14a 100644 --- a/fridge_m/sim_chunks/chunk_100/running_log.log +++ b/fridge_m/sim_chunks/chunk_100/running_log.log @@ -4523,3 +4523,1896 @@ 05/11 13:27:15 INFO: [Worker 0] Preparing episode data: 253 timesteps [save_utils.py: 278] 05/11 13:27:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] 05/11 13:27:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:27:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:27:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:27:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.39s (batch: 3.71s, save: 9.68s) [pipeline.py: 300] +05/11 13:27:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.42s: + episode_total: mean=186.39s, total=186.39s, count=1, min=186393.4ms, max=186393.4ms + sensor_polling: mean=385.6ms, total=97.17s, count=252, min=337.2ms, max=659.9ms + save_trajectories: mean=9.68s, total=9.68s, count=1, min=9679.2ms, max=9679.2ms + physics_step: mean=25.1ms, total=6.32s, count=252, min=14.5ms, max=36.7ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3706.7ms, max=3706.7ms + task_sampling: mean=420.6ms, total=420.6ms, count=1, min=420.6ms, max=420.6ms + task_specific_sample: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=454.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:27:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:27:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:27:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:27:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:27:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:27:31 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 13:27:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:27:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015274m [env.py: 870] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:27:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05739738 1.04065905 0.01527427] yaw=-148.9deg [env.py: 1019] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95443243 0.84057471 0.01527427] yaw=-151.5deg [env.py: 1019] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81172648 0.55116173 0.01527427] yaw=-178.0deg [env.py: 1019] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:27:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=129.9ms, total=130.0ms [env.py: 1075] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.057, 1.041, 0.015) [env.py: 1079] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.9 deg [env.py: 1082] +05/11 13:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:27:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:27:31 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 13:27:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 13:27:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:27:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:27:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:27:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:27:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 85.134[deg] [grasp_sample.py: 539] +05/11 13:27:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:27:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:27:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:27:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:27:41 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:27:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:28:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:28:07 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:28:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:28:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:28:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:28:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:28:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:28:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:28:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.39s (batch: 3.86s, save: 10.53s) [pipeline.py: 300] +05/11 13:28:22 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.75s: + episode_total: mean=81.96s, total=163.91s, count=2, min=2755.7ms, max=161156.3ms + sensor_polling: mean=359.1ms, total=107.74s, count=300, min=323.5ms, max=757.0ms + save_trajectories: mean=10.53s, total=10.53s, count=1, min=10526.8ms, max=10526.8ms + physics_step: mean=25.0ms, total=7.51s, count=300, min=17.1ms, max=44.1ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3862.3ms, max=3862.3ms + task_sampling: mean=375.0ms, total=749.9ms, count=2, min=373.7ms, max=376.3ms + task_specific_sample: mean=371.4ms, total=742.8ms, count=2, min=370.6ms, max=372.2ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms + mj_forward_sync: mean=463.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=14.0us, 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 13:28:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:28:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:28:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:28:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:28:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:28:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:28:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052129m [env.py: 870] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:28:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91598701 0.47494231 0.0521288 ] yaw=188.0deg [env.py: 1019] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81620239 0.44047377 0.0521288 ] yaw=177.6deg [env.py: 1019] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8910902 0.26911557 0.0521288 ] yaw=176.0deg [env.py: 1019] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:28:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=144.1ms, total=144.2ms [env.py: 1075] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.475, 0.052) [env.py: 1079] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.0 deg [env.py: 1082] +05/11 13:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m [env.py: 1086] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:28:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:28:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:28:24 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 13:28:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 13:28:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:28:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:28:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:28:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:28:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 81.002[deg] [grasp_sample.py: 539] +05/11 13:28:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:28:25 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:28:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:28:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:28:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:28:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:28:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:28:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:28:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:28:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:29:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:29:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:29:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:29:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.82s (batch: 3.70s, save: 11.12s) [pipeline.py: 300] +05/11 13:29:03 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s: + episode_total: mean=157.81s, total=157.81s, count=1, min=157808.7ms, max=157808.7ms + sensor_polling: mean=358.2ms, total=107.45s, count=300, min=320.9ms, max=621.6ms + save_trajectories: mean=11.12s, total=11.12s, count=1, min=11123.1ms, max=11123.1ms + physics_step: mean=24.5ms, total=7.36s, count=300, min=17.0ms, max=33.2ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3700.9ms, max=3700.9ms + task_sampling: mean=481.2ms, total=481.2ms, count=1, min=481.2ms, max=481.2ms + task_specific_sample: mean=477.2ms, total=477.2ms, count=1, min=477.2ms, max=477.2ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=457.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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 13:29:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:29:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:29:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:29:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:29:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:29:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:29:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075604m [env.py: 870] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:29:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77889205 0.71601139 0.07560442] yaw=-176.6deg [env.py: 1019] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:29:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.5ms, total=200.5ms [env.py: 1075] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.716, 0.076) [env.py: 1079] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg [env.py: 1082] +05/11 13:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:29:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:29:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:29:05 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 13:29:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 13:29:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:29:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:29:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:29:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.801s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:29:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 80.116[deg] [grasp_sample.py: 539] +05/11 13:29:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:29:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:29:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:29:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:29:13 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:29:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:29:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:29:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:29:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.71s (batch: 3.59s, save: 10.12s) [pipeline.py: 300] +05/11 13:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:27 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.39s: + episode_total: mean=166.58s, total=166.58s, count=1, min=166578.6ms, max=166578.6ms + sensor_polling: mean=386.5ms, total=115.95s, count=300, min=329.1ms, max=703.1ms + save_trajectories: mean=10.12s, total=10.12s, count=1, min=10119.5ms, max=10119.5ms + physics_step: mean=26.8ms, total=8.05s, count=300, min=18.0ms, max=54.1ms + save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3588.8ms, max=3588.8ms + task_sampling: mean=387.4ms, total=387.4ms, count=1, min=387.4ms, max=387.4ms + task_specific_sample: mean=383.3ms, total=383.3ms, count=1, min=383.3ms, max=383.3ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=489.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:29:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:29:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:29:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:29:29 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 13:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042615m [env.py: 870] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80205115 0.64684533 0.04261463] yaw=-163.9deg [env.py: 1019] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03962568 1.04045526 0.04261463] yaw=-143.6deg [env.py: 1019] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7138552 0.18475896 0.04261463] yaw=169.0deg [env.py: 1019] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms [env.py: 1075] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.647, 0.043) [env.py: 1079] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.9 deg [env.py: 1082] +05/11 13:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:29:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:29:29 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 13:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 13:29:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:29:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:29:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:29:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.703s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:29:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 99.576[deg] [grasp_sample.py: 539] +05/11 13:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:29:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:29:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:29:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:29:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:29:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:29:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:29:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:29:32 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.395s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:29:32 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.279[deg] [grasp_sample.py: 539] +05/11 13:29:34 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:29:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:29:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:29:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:29:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:29:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:29:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:29:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:29:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:29:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087615m [env.py: 870] +05/11 13:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:29:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:29:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71054215 0.90375274 0.08761476] yaw=-164.3deg [env.py: 1019] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08790543 1.12167125 0.08761476] yaw=-144.8deg [env.py: 1019] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:29:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.3ms [env.py: 1075] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.711, 0.904, 0.088) [env.py: 1079] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg [env.py: 1082] +05/11 13:29:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/11 13:29:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:29:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:29:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:29:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:29:36 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 13:29:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 13:29:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:29:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.438s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:29:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.660[m] 86.319[deg] [grasp_sample.py: 539] +05/11 13:29:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:29:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:29:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:29:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:29:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:29:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:29:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:29:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:29:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.621s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:29:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.470[deg] [grasp_sample.py: 539] +05/11 13:29:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:29:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:29:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:29:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:29:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:29:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:30:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:30:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:30:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:30:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:30:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:30:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:30:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:30:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:30:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:30:59 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:30:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:30:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:31:04 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:31:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:31:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:31:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 16.20s (batch: 4.27s, save: 11.93s) [pipeline.py: 300] +05/11 13:31:16 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s: + episode_total: mean=173.33s, total=173.33s, count=1, min=173326.6ms, max=173326.6ms + sensor_polling: mean=363.4ms, total=109.02s, count=300, min=334.2ms, max=659.5ms + save_trajectories: mean=11.93s, total=11.93s, count=1, min=11930.5ms, max=11930.5ms + physics_step: mean=23.5ms, total=7.06s, count=300, min=15.5ms, max=33.2ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4267.5ms, max=4267.5ms + task_sampling: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms + task_specific_sample: mean=409.3ms, total=409.3ms, count=1, min=409.3ms, max=409.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=450.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:31:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:31:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:31:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:31:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:31:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:31:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:31:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017503m [env.py: 870] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:31:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90594973 0.46200236 0.01750263] yaw=184.5deg [env.py: 1019] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15507438 1.07786703 0.01750263] yaw=-133.0deg [env.py: 1019] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96574895 0.29690013 0.01750263] yaw=160.3deg [env.py: 1019] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:31:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.7ms, total=182.8ms [env.py: 1075] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.462, 0.018) [env.py: 1079] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.5 deg [env.py: 1082] +05/11 13:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:31:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:31:18 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 13:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/11 13:31:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:31:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:31:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:31:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:31:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 94.333[deg] [grasp_sample.py: 539] +05/11 13:31:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:31:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:31:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:31:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:31:27 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:31:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:31:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:31:29 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:31:36 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:31:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:31:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:31:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.69s (batch: 3.84s, save: 11.85s) [pipeline.py: 300] +05/11 13:31:43 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s: + episode_total: mean=158.67s, total=158.67s, count=1, min=158667.2ms, max=158667.2ms + sensor_polling: mean=359.3ms, total=107.78s, count=300, min=322.8ms, max=620.9ms + save_trajectories: mean=11.85s, total=11.85s, count=1, min=11849.8ms, max=11849.8ms + physics_step: mean=23.3ms, total=6.98s, count=300, min=16.9ms, max=31.4ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.8ms, max=3841.8ms + task_sampling: mean=494.9ms, total=494.9ms, count=1, min=494.9ms, max=494.9ms + task_specific_sample: mean=491.5ms, total=491.5ms, count=1, min=491.5ms, max=491.5ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=461.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:31:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:31:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:31:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:31:45 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 13:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078694m [env.py: 870] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06348542 1.25433652 0.07869373] yaw=-122.4deg [env.py: 1019] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86104465 0.11643541 0.07869373] yaw=153.2deg [env.py: 1019] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88403965 0.55407706 0.07869373] yaw=-185.1deg [env.py: 1019] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=157.4ms, total=157.4ms [env.py: 1075] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.063, 1.254, 0.079) [env.py: 1079] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.4 deg [env.py: 1082] +05/11 13:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:31:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:31:45 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 13:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 13:31:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:31:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:31:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:31:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.413s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:31:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 92.317[deg] [grasp_sample.py: 539] +05/11 13:31:49 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:31:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:31:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:31:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:31:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:31:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:31:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:31:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:31:51 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 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036370m [env.py: 870] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:31:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98546312 0.7111831 0.03636971] yaw=-166.8deg [env.py: 1019] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69496849 0.91747557 0.03636971] yaw=-146.1deg [env.py: 1019] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90618888 0.38596831 0.03636971] yaw=178.9deg [env.py: 1019] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:31:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.0ms, total=206.0ms [env.py: 1075] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.711, 0.036) [env.py: 1079] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg [env.py: 1082] +05/11 13:31:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m [env.py: 1086] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:31:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:31:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:31:51 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 13:31:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 13:31:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:31:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:31:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:31:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.806s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:31:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.331[m] 90.277[deg] [grasp_sample.py: 539] +05/11 13:31:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:31:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:31:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:31:54 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:31:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:31:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:31:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:32:01 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:32:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:32:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:32:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:32:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:32:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:32:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.45s (batch: 4.03s, save: 10.42s) [pipeline.py: 300] +05/11 13:32:09 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s: + episode_total: mean=160.49s, total=160.49s, count=1, min=160487.4ms, max=160487.4ms + sensor_polling: mean=364.5ms, total=109.36s, count=300, min=327.1ms, max=638.6ms + save_trajectories: mean=10.42s, total=10.42s, count=1, min=10418.9ms, max=10418.9ms + physics_step: mean=23.8ms, total=7.13s, count=300, min=16.8ms, max=43.4ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4030.0ms, max=4030.0ms + task_sampling: mean=404.9ms, total=404.9ms, count=1, min=404.9ms, max=404.9ms + task_specific_sample: mean=401.6ms, total=401.6ms, count=1, min=401.6ms, max=401.6ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=462.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:32:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:32:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:32:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:32:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:32:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:32:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:32:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:32:10 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 13:32:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:32:10 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 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035594m [env.py: 870] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:32:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82841763 0.6417773 0.03559395] yaw=-161.8deg [env.py: 1019] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82124268 0.77589757 0.03559395] yaw=-171.4deg [env.py: 1019] +05/11 13:32:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78942277 0.34497048 0.03559395] yaw=179.1deg [env.py: 1019] +05/11 13:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:32:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.5ms, total=165.6ms [env.py: 1075] +05/11 13:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.642, 0.036) [env.py: 1079] +05/11 13:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg [env.py: 1082] +05/11 13:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/11 13:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:32:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:32:11 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 13:32:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 13:32:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:32:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:32:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:32:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.707s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:32:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.416[m] 89.355[deg] [grasp_sample.py: 539] +05/11 13:32:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:32:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:32:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:32:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:32:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:32:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.98s (batch: 3.98s, save: 10.00s) [pipeline.py: 300] +05/11 13:32:16 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.88s: + episode_total: mean=141.87s, total=283.74s, count=2, min=123301.8ms, max=160440.9ms + sensor_polling: mean=361.1ms, total=207.29s, count=574, min=322.8ms, max=662.7ms + physics_step: mean=23.2ms, total=13.30s, count=574, min=16.9ms, max=35.6ms + save_trajectories: mean=10.00s, total=10.00s, count=1, min=10004.5ms, max=10004.5ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3977.4ms, max=3977.4ms + task_sampling: mean=442.1ms, total=884.2ms, count=2, min=409.6ms, max=474.6ms + task_specific_sample: mean=438.2ms, total=876.5ms, count=2, min=405.2ms, max=471.3ms + scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms + mj_forward_sync: mean=627.5us, total=1.3ms, count=2, min=0.5ms, max=0.8ms + policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:32:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:32:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:32:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:32:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:32:17 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 13:32:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:32:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084054m [env.py: 870] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:32:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77148522 0.97161359 0.08405356] yaw=-149.8deg [env.py: 1019] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76555805 0.26787769 0.08405356] yaw=158.3deg [env.py: 1019] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95645558 0.79190147 0.08405356] yaw=-157.4deg [env.py: 1019] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:32:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.4ms, total=106.5ms [env.py: 1075] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.972, 0.084) [env.py: 1079] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg [env.py: 1082] +05/11 13:32:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:32:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:32:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:32:18 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 13:32:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/11 13:32:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:32:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:32:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:32:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.327s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:32:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 85.936[deg] [grasp_sample.py: 539] +05/11 13:32:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:32:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:32:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:32:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:32:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:32:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:32:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:32:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:32:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:33:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:33:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:33:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:33:22 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:33:46 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:33:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:33:46 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:33:51 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:34:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:34:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:34:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.24s (batch: 3.88s, save: 11.37s) [pipeline.py: 300] +05/11 13:34:02 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s: + episode_total: mean=163.59s, total=163.59s, count=1, min=163593.3ms, max=163593.3ms + sensor_polling: mean=371.1ms, total=111.32s, count=300, min=328.9ms, max=661.1ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11367.1ms, max=11367.1ms + physics_step: mean=24.0ms, total=7.20s, count=300, min=17.8ms, max=32.5ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3876.2ms, max=3876.2ms + task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms + task_specific_sample: mean=467.8ms, total=467.8ms, count=1, min=467.8ms, max=467.8ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=463.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:34:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:34:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:34:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:34:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:34:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:34:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023558m [env.py: 870] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:34:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0029414 1.18149672 0.023558 ] yaw=-144.4deg [env.py: 1019] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67975882 0.44933154 0.023558 ] yaw=168.9deg [env.py: 1019] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:34:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.6ms [env.py: 1075] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.181, 0.024) [env.py: 1079] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg [env.py: 1082] +05/11 13:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:34:03 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 13:34:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 13:34:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:34:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:34:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:34:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.622s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:34:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.600[m] 88.213[deg] [grasp_sample.py: 539] +05/11 13:34:10 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:34:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:34:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:34:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:34:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:34:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:34:11 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 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082051m [env.py: 870] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:34:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.63756272 0.47820459 0.08205055] yaw=181.9deg [env.py: 1019] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82547751 0.908752 0.08205055] yaw=-165.2deg [env.py: 1019] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6994327 0.82079155 0.08205055] yaw=-168.2deg [env.py: 1019] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:34:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=368.7ms, total=368.8ms [env.py: 1075] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.638, 0.478, 0.082) [env.py: 1079] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg [env.py: 1082] +05/11 13:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:34:12 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 13:34:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 13:34:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:34:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:34:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:34:13 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:34:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:34:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.596[m] 86.185[deg] [grasp_sample.py: 539] +05/11 13:34:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:34:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:34:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:34:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:34:14 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:34:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:34:14 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/11 13:34:19 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:34:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:34:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:34:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.94s (batch: 3.81s, save: 11.13s) [pipeline.py: 300] +05/11 13:34:30 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.93s: + episode_total: mean=81.68s, total=163.35s, count=2, min=4407.9ms, max=158943.6ms + sensor_polling: mean=379.4ms, total=108.88s, count=287, min=317.2ms, max=664.9ms + save_trajectories: mean=11.13s, total=11.13s, count=1, min=11126.3ms, max=11126.3ms + physics_step: mean=23.8ms, total=6.84s, count=287, min=18.2ms, max=57.4ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3814.8ms, max=3814.8ms + task_sampling: mean=465.5ms, total=931.0ms, count=2, min=444.1ms, max=486.9ms + task_specific_sample: mean=461.8ms, total=923.6ms, count=2, min=440.7ms, max=482.9ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.6ms, max=2.5ms + mj_forward_sync: mean=457.8us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:34:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:34:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:34:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:34:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:34:31 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 13:34:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:34:31 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 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000089m [env.py: 870] +05/11 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:34:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.7659635e-01 7.3267008e-01 8.9066775e-05] yaw=-164.3deg [env.py: 1019] +05/11 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00244287e+00 9.26005074e-01 8.90667750e-05] yaw=-136.2deg [env.py: 1019] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-7.84833708e-01 2.92838488e-03 8.90667750e-05] yaw=156.5deg [env.py: 1019] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.7ms, total=97.8ms [env.py: 1075] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.733, 0.000) [env.py: 1079] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.3 deg [env.py: 1082] +05/11 13:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/11 13:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:34:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 13:34:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 13:34:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:34:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:34:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:34:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.257s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:34:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 75.685[deg] [grasp_sample.py: 539] +05/11 13:34:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:34:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:34:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:34:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:34:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:34:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:34:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:34:43 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:34:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:34:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:34:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:34:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:34:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.34s (batch: 3.87s, save: 10.47s) [pipeline.py: 300] +05/11 13:34:52 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.47s: + episode_total: mean=161.22s, total=161.22s, count=1, min=161219.3ms, max=161219.3ms + sensor_polling: mean=367.4ms, total=110.23s, count=300, min=328.4ms, max=693.5ms + save_trajectories: mean=10.47s, total=10.47s, count=1, min=10470.6ms, max=10470.6ms + physics_step: mean=24.4ms, total=7.31s, count=300, min=17.0ms, max=99.9ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.9ms, max=3872.9ms + task_sampling: mean=470.2ms, total=470.2ms, count=1, min=470.2ms, max=470.2ms + task_specific_sample: mean=467.0ms, total=467.0ms, count=1, min=467.0ms, max=467.0ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:34:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:34:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:34:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:34:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:34:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:34:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034423m [env.py: 870] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:34:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94207018 0.4568142 0.03442253] yaw=167.7deg [env.py: 1019] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94312326 0.88302185 0.03442253] yaw=-157.8deg [env.py: 1019] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91673858 1.12891649 0.03442253] yaw=-141.6deg [env.py: 1019] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:34:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.8ms [env.py: 1075] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.457, 0.034) [env.py: 1079] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg [env.py: 1082] +05/11 13:34:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m [env.py: 1086] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:34:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:34:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:34:54 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 13:34:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/11 13:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:34:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:34:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:34:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.683s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:34:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.332[m] 90.835[deg] [grasp_sample.py: 539] +05/11 13:34:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:34:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:34:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:34:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:34:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:34:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.17s (batch: 4.43s, save: 10.75s) [pipeline.py: 300] +05/11 13:34:59 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.39s: + episode_total: mean=161.82s, total=161.82s, count=1, min=161821.4ms, max=161821.4ms + sensor_polling: mean=363.5ms, total=109.06s, count=300, min=309.9ms, max=1025.9ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10745.5ms, max=10745.5ms + physics_step: mean=23.6ms, total=7.09s, count=300, min=16.8ms, max=62.9ms + save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4428.0ms, max=4428.0ms + task_sampling: mean=393.9ms, total=393.9ms, count=1, min=393.9ms, max=393.9ms + task_specific_sample: mean=389.9ms, total=389.9ms, count=1, min=389.9ms, max=389.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=454.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:35:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:35:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:35:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:35:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:35:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:35:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:35:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046171m [env.py: 870] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:35:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68081699 0.55938506 0.04617109] yaw=-176.6deg [env.py: 1019] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64613553 0.38771994 0.04617109] yaw=166.4deg [env.py: 1019] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73192571 0.66403716 0.04617109] yaw=-169.6deg [env.py: 1019] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:35:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.8ms, total=162.8ms [env.py: 1075] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.681, 0.559, 0.046) [env.py: 1079] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg [env.py: 1082] +05/11 13:35:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/11 13:35:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:35:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:35:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:35:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:35:01 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 13:35:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 13:35:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:35:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:35:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:35:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:35:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.597[m] 90.776[deg] [grasp_sample.py: 539] +05/11 13:35:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:35:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:35:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:35:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:35:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:35:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:35:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:35:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:36:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:13 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:36:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:36:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:36:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:36:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:36:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:36:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.619s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:36:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.118[deg] [grasp_sample.py: 539] +05/11 13:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:36:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:36:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:36:26 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 13:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:36:26 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 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096167m [env.py: 870] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13336701 1.16008336 0.09616738] yaw=-140.5deg [env.py: 1019] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61371297 0.55140522 0.09616738] yaw=-178.0deg [env.py: 1019] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.9ms, total=191.0ms [env.py: 1075] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.133, 1.160, 0.096) [env.py: 1079] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg [env.py: 1082] +05/11 13:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:36:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:36:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 13:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 13:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:36:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.450s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:36:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.543[m] 103.274[deg] [grasp_sample.py: 539] +05/11 13:36:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:36:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:36:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:36:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:36:32 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:36:36 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:36:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:36:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:36:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:36:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:36:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.10s (batch: 3.30s, save: 10.80s) [pipeline.py: 300] +05/11 13:36:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.14s: + episode_total: mean=83.30s, total=166.59s, count=2, min=6551.5ms, max=160039.7ms + sensor_polling: mean=366.3ms, total=109.89s, count=300, min=325.5ms, max=696.7ms + save_trajectories: mean=10.80s, total=10.80s, count=1, min=10797.5ms, max=10797.5ms + physics_step: mean=25.0ms, total=7.51s, count=300, min=20.8ms, max=34.0ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3301.6ms, max=3301.6ms + task_sampling: mean=569.3ms, total=1.14s, count=2, min=503.0ms, max=635.6ms + task_specific_sample: mean=565.9ms, total=1.13s, count=2, min=499.3ms, max=632.6ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms + mj_forward_sync: mean=487.2us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:36:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:36:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:36:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:36:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:36:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:36:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:36:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045785m [env.py: 870] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:36:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8966959 0.48950982 0.04578511] yaw=-182.5deg [env.py: 1019] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82891955 0.97112681 0.04578511] yaw=-155.6deg [env.py: 1019] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:36:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=208.5ms, total=208.6ms [env.py: 1075] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.490, 0.046) [env.py: 1079] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.5 deg [env.py: 1082] +05/11 13:36:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:36:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:36:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:36:53 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 13:36:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 13:36:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:36:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:36:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:36:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:36:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.392[m] 99.006[deg] [grasp_sample.py: 539] +05/11 13:36:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:36:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:36:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:36:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:36:56 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:36:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:36:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:37:03 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:37:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:37:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:37:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.39s (batch: 3.47s, save: 10.92s) [pipeline.py: 300] +05/11 13:37:11 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.37s: + episode_total: mean=160.02s, total=160.02s, count=1, min=160018.5ms, max=160018.5ms + sensor_polling: mean=360.5ms, total=108.15s, count=300, min=328.2ms, max=677.4ms + save_trajectories: mean=10.92s, total=10.92s, count=1, min=10921.2ms, max=10921.2ms + physics_step: mean=23.0ms, total=6.91s, count=300, min=16.8ms, max=57.0ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3467.6ms, max=3467.6ms + task_sampling: mean=370.4ms, total=370.4ms, count=1, min=370.4ms, max=370.4ms + task_specific_sample: mean=366.7ms, total=366.7ms, count=1, min=366.7ms, max=366.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=462.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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 13:37:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:37:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:37:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:37:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:37:13 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 13:37:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:37:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026078m [env.py: 870] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:37:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82710191 1.12778131 0.02607824] yaw=-145.7deg [env.py: 1019] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86458301 0.92151228 0.02607824] yaw=-157.8deg [env.py: 1019] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:37:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.9ms, total=181.9ms [env.py: 1075] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 1.128, 0.026) [env.py: 1079] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.7 deg [env.py: 1082] +05/11 13:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:37:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:37:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:37:14 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 13:37:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/11 13:37:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:37:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:37:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:37:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:37:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.814s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:37:22 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.697[m] 97.692[deg] [grasp_sample.py: 539] +05/11 13:37:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:37:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:37:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:37:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:37:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:37:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:37:28 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:37:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:37:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:37:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:37:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:37:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:37:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:37:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.58s (batch: 3.86s, save: 9.72s) [pipeline.py: 300] +05/11 13:37:42 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s: + episode_total: mean=161.50s, total=161.50s, count=1, min=161496.7ms, max=161496.7ms + sensor_polling: mean=370.1ms, total=111.04s, count=300, min=329.4ms, max=732.5ms + save_trajectories: mean=9.72s, total=9.72s, count=1, min=9716.4ms, max=9716.4ms + physics_step: mean=23.7ms, total=7.12s, count=300, min=16.6ms, max=119.3ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3862.4ms, max=3862.4ms + task_sampling: mean=453.2ms, total=453.2ms, count=1, min=453.2ms, max=453.2ms + task_specific_sample: mean=449.3ms, total=449.3ms, count=1, min=449.3ms, max=449.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=454.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:37:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:37:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:37:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:37:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:37:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:37:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:37:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:37:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:37:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087454m [env.py: 870] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:37:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95788117 0.38515622 0.08745355] yaw=182.2deg [env.py: 1019] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91439549 0.80271346 0.08745355] yaw=-163.7deg [env.py: 1019] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:37:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75736307 0.56311941 0.08745355] yaw=-176.4deg [env.py: 1019] +05/11 13:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:37:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.8ms, total=219.8ms [env.py: 1075] +05/11 13:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.385, 0.087) [env.py: 1079] +05/11 13:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.2 deg [env.py: 1082] +05/11 13:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/11 13:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:37:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:37:44 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 13:37:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/11 13:37:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:37:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:37:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:37:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.557s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:37:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.288[m] 87.955[deg] [grasp_sample.py: 539] +05/11 13:37:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:37:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:37:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:37:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:38:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:38:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:38:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:38:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:38:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:38:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/11 13:38:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:38:29 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.686s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:38:29 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.165[m] 10.882[deg] [grasp_sample.py: 539] +05/11 13:38:30 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:38:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:38:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:38:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:38:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:38:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:38:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:38:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:38:32 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 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053878m [env.py: 870] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:38:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6792045 0.44747787 0.05387846] yaw=184.2deg [env.py: 1019] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81453423 1.06724628 0.05387846] yaw=-147.9deg [env.py: 1019] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:38:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=686.6ms, total=686.7ms [env.py: 1075] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.447, 0.054) [env.py: 1079] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.2 deg [env.py: 1082] +05/11 13:38:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:38:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:38:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:38:33 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 13:38:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 13:38:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:38:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:38:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:38:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.873s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:38:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.592[m] 92.747[deg] [grasp_sample.py: 539] +05/11 13:38:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:38:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:38:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:38:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:38:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:38:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:38:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:38:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:38:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:38:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:38:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.478[deg] [grasp_sample.py: 539] +05/11 13:38:54 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:38:54 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:38:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:38:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:38:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:38:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:38:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:38:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:38:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094229m [env.py: 870] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:38:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90670103 1.07655371 0.09422944] yaw=-143.2deg [env.py: 1019] +05/11 13:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.69403313 0.50814745 0.09422944] yaw=-178.5deg [env.py: 1019] +05/11 13:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.5ms, total=225.6ms [env.py: 1075] +05/11 13:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 1.077, 0.094) [env.py: 1079] +05/11 13:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg [env.py: 1082] +05/11 13:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/11 13:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:38:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:38:56 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 13:38:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/11 13:38:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:38:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:38:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:39:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.035s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:39:02 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.548[m] 84.855[deg] [grasp_sample.py: 539] +05/11 13:39:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:39:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:39:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:39:19 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:39:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:39:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:39:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:39:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:39:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:39:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:39:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/11 13:39:35 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.373s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:39:35 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.061[m] 13.908[deg] [grasp_sample.py: 539] +05/11 13:39:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:39:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:39:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 17.26s (batch: 4.00s, save: 13.25s) [pipeline.py: 300] +05/11 13:39:36 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.54s: + episode_total: mean=163.78s, total=163.78s, count=1, min=163778.1ms, max=163778.1ms + sensor_polling: mean=361.7ms, total=108.51s, count=300, min=317.2ms, max=676.5ms + save_trajectories: mean=13.25s, total=13.25s, count=1, min=13252.1ms, max=13252.1ms + physics_step: mean=25.4ms, total=7.62s, count=300, min=16.7ms, max=58.5ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.2ms, max=4003.2ms + task_sampling: mean=535.6ms, total=535.6ms, count=1, min=535.6ms, max=535.6ms + task_specific_sample: mean=531.8ms, total=531.8ms, count=1, min=531.8ms, max=531.8ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=457.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:39:37 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:39:38 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:39:38 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:39:38 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes [pipeline.py: 1323] +05/11 13:39:38 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=4415.06s + House averages: + episode_total: mean=136.04s, total=2448.77s, count=18, min=2755.7ms, max=197746.9ms + sensor_polling: mean=366.1ms, total=1636.71s, count=4471, min=303.2ms, max=757.0ms + save_trajectories: mean=11.12s, total=144.57s, count=13, min=10202.5ms, max=13252.1ms + physics_step: mean=24.6ms, total=109.89s, count=4471, min=15.1ms, max=75.3ms + save_batch_prep: mean=3.79s, total=49.33s, count=13, min=3271.4ms, max=4323.7ms + task_sampling: mean=615.6ms, total=11.08s, count=18, min=373.7ms, max=3223.1ms + task_specific_sample: mean=460.7ms, total=8.29s, count=18, min=370.6ms, max=632.6ms + scene_load: mean=2.72s, total=2.72s, count=1, min=2724.0ms, max=2724.0ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1730.1ms, max=1730.1ms + scene_compile: mean=825.9ms, total=825.9ms, count=1, min=825.9ms, max=825.9ms + compile_mujoco: mean=568.8ms, total=568.8ms, count=1, min=568.8ms, max=568.8ms + compile_xml_load: mean=186.9ms, total=186.9ms, count=1, min=186.9ms, max=186.9ms + scene_init: mean=115.7ms, total=115.7ms, count=1, min=115.7ms, max=115.7ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_asset_install: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + scene_randomize: mean=2.1ms, total=37.8ms, count=18, min=1.1ms, max=3.0ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + mj_forward_sync: mean=470.7us, total=8.5ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=18.5us, total=0.3ms, 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 13:39:38 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 13:39:38 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4415.06s + Worker averages: + episode_total: mean=136.04s, total=2448.77s, count=18, min=2755.7ms, max=197746.9ms + sensor_polling: mean=366.1ms, total=1636.71s, count=4471, min=303.2ms, max=757.0ms + save_trajectories: mean=11.12s, total=144.57s, count=13, min=10202.5ms, max=13252.1ms + physics_step: mean=24.6ms, total=109.89s, count=4471, min=15.1ms, max=75.3ms + save_batch_prep: mean=3.79s, total=49.33s, count=13, min=3271.4ms, max=4323.7ms + task_sampling: mean=615.6ms, total=11.08s, count=18, min=373.7ms, max=3223.1ms + task_specific_sample: mean=460.7ms, total=8.29s, count=18, min=370.6ms, max=632.6ms + scene_load: mean=2.72s, total=2.72s, count=1, min=2724.0ms, max=2724.0ms + scene_env_create: mean=1.73s, total=1.73s, count=1, min=1730.1ms, max=1730.1ms + scene_compile: mean=825.9ms, total=825.9ms, count=1, min=825.9ms, max=825.9ms + compile_mujoco: mean=568.8ms, total=568.8ms, count=1, min=568.8ms, max=568.8ms + compile_xml_load: mean=186.9ms, total=186.9ms, count=1, min=186.9ms, max=186.9ms + scene_init: mean=115.7ms, total=115.7ms, count=1, min=115.7ms, max=115.7ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_asset_install: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + scene_randomize: mean=2.1ms, total=37.8ms, count=18, min=1.1ms, max=3.0ms + asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms + asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms + mj_forward_sync: mean=470.7us, total=8.5ms, count=18, min=0.4ms, max=0.6ms + compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + policy_setup: mean=18.5us, total=0.3ms, 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 13:39:38 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:39:38 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:39:38 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes [pipeline.py: 1323] +05/11 13:39:38 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=4306.02s + House averages: + episode_total: mean=135.91s, total=2446.40s, count=18, min=3482.8ms, max=197653.3ms + sensor_polling: mean=365.7ms, total=1582.76s, count=4328, min=297.3ms, max=753.2ms + save_trajectories: mean=11.00s, total=109.95s, count=10, min=8751.3ms, max=11849.8ms + physics_step: mean=24.2ms, total=104.67s, count=4328, min=14.6ms, max=57.4ms + save_batch_prep: mean=3.67s, total=36.73s, count=10, min=3253.6ms, max=4218.2ms + task_sampling: mean=603.9ms, total=10.87s, count=18, min=360.5ms, max=3266.2ms + task_specific_sample: mean=447.0ms, total=8.05s, count=18, min=357.4ms, max=656.4ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2760.1ms, max=2760.1ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1672.0ms, max=1672.0ms + scene_compile: mean=890.7ms, total=890.7ms, count=1, min=890.7ms, max=890.7ms + compile_mujoco: mean=606.7ms, total=606.7ms, count=1, min=606.7ms, max=606.7ms + compile_xml_load: mean=211.6ms, total=211.6ms, count=1, min=211.6ms, max=211.6ms + scene_init: mean=115.1ms, total=115.1ms, count=1, min=115.1ms, max=115.1ms + scene_asset_install: mean=82.1ms, total=82.1ms, count=1, min=82.1ms, max=82.1ms + compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms + compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms + asset_install_grasps: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_randomize: mean=2.0ms, total=35.9ms, count=18, min=1.0ms, max=2.8ms + asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms + asset_install_scene: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + compile_robot_add: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + mj_forward_sync: mean=475.9us, total=8.6ms, count=18, min=0.4ms, max=0.6ms + policy_setup: mean=18.1us, total=0.3ms, 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 13:39:38 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 13:39:38 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=4306.02s + Worker averages: + episode_total: mean=135.91s, total=2446.40s, count=18, min=3482.8ms, max=197653.3ms + sensor_polling: mean=365.7ms, total=1582.76s, count=4328, min=297.3ms, max=753.2ms + save_trajectories: mean=11.00s, total=109.95s, count=10, min=8751.3ms, max=11849.8ms + physics_step: mean=24.2ms, total=104.67s, count=4328, min=14.6ms, max=57.4ms + save_batch_prep: mean=3.67s, total=36.73s, count=10, min=3253.6ms, max=4218.2ms + task_sampling: mean=603.9ms, total=10.87s, count=18, min=360.5ms, max=3266.2ms + task_specific_sample: mean=447.0ms, total=8.05s, count=18, min=357.4ms, max=656.4ms + scene_load: mean=2.76s, total=2.76s, count=1, min=2760.1ms, max=2760.1ms + scene_env_create: mean=1.67s, total=1.67s, count=1, min=1672.0ms, max=1672.0ms + scene_compile: mean=890.7ms, total=890.7ms, count=1, min=890.7ms, max=890.7ms + compile_mujoco: mean=606.7ms, total=606.7ms, count=1, min=606.7ms, max=606.7ms + compile_xml_load: mean=211.6ms, total=211.6ms, count=1, min=211.6ms, max=211.6ms + scene_init: mean=115.1ms, total=115.1ms, count=1, min=115.1ms, max=115.1ms + scene_asset_install: mean=82.1ms, total=82.1ms, count=1, min=82.1ms, max=82.1ms + compile_aux_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms + compile_aux_policy_objects: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms + asset_install_grasps: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + scene_randomize: mean=2.0ms, total=35.9ms, count=18, min=1.0ms, max=2.8ms + asset_install_objects: mean=16.5ms, total=16.5ms, count=1, min=16.5ms, max=16.5ms + asset_install_scene: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + compile_robot_add: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + mj_forward_sync: mean=475.9us, total=8.6ms, count=18, min=0.4ms, max=0.6ms + policy_setup: mean=18.1us, total=0.3ms, 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 13:39:41 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 13:39:41 INFO: Success count: 13, Total count: 14 [pipeline.py: 1491] +05/11 13:39:41 INFO: Success rate: 92.86% [pipeline.py: 1492] +05/11 13:39:42 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 13:39:42 INFO: Success count: 10, Total count: 10 [pipeline.py: 1491] +05/11 13:39:42 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 13:39:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:39:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:40:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:40:57 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:41:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:41:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:41:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:41:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:41:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 68 non-colliding grasps [grasp_sample.py: 465] +05/11 13:41:19 INFO: [Worker 0] Feasibility-checked 68 grasps in 2.437s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:41:19 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.117[m] 0.836[deg] [grasp_sample.py: 539] +05/11 13:41:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:41:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:41:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:41:21 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:41:23 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:41:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:41:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:41:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:41:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:41:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.29s (batch: 3.99s, save: 10.30s) [pipeline.py: 300] +05/11 13:41:38 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.93s: + episode_total: mean=133.94s, total=401.82s, count=3, min=91215.7ms, max=186075.4ms + sensor_polling: mean=373.8ms, total=273.23s, count=731, min=330.4ms, max=681.2ms + physics_step: mean=25.0ms, total=18.29s, count=731, min=16.7ms, max=37.7ms + save_trajectories: mean=10.30s, total=10.30s, count=1, min=10301.8ms, max=10301.8ms + save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3988.7ms, max=3988.7ms + task_sampling: mean=643.6ms, total=1.93s, count=3, min=457.2ms, max=990.8ms + task_specific_sample: mean=639.9ms, total=1.92s, count=3, min=453.8ms, max=987.3ms + scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.2ms, max=2.9ms + mj_forward_sync: mean=458.3us, total=1.4ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=18.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:41:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:41:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:41:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:41:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:41:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:41:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:41:39 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 13:41:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:41:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076911m [env.py: 870] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:41:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94764887 0.92024867 0.07691056] yaw=-145.2deg [env.py: 1019] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72380627 0.27682386 0.07691056] yaw=157.2deg [env.py: 1019] +05/11 13:41:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94310197 0.53894921 0.07691056] yaw=-175.4deg [env.py: 1019] +05/11 13:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=584.4ms, total=584.4ms [env.py: 1075] +05/11 13:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.920, 0.077) [env.py: 1079] +05/11 13:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg [env.py: 1082] +05/11 13:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/11 13:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:41:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:41:40 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 13:41:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/11 13:41:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:41:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:41:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:41:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.963s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:41:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 80.163[deg] [grasp_sample.py: 539] +05/11 13:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:41:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:41:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:41:45 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:41:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:41:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:41:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:41:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:41:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.82s (batch: 3.74s, save: 10.08s) [pipeline.py: 300] +05/11 13:42:00 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.02s: + episode_total: mean=127.42s, total=254.85s, count=2, min=70439.5ms, max=184409.8ms + sensor_polling: mean=379.5ms, total=167.34s, count=441, min=331.9ms, max=718.7ms + physics_step: mean=25.4ms, total=11.22s, count=441, min=16.6ms, max=68.6ms + save_trajectories: mean=10.08s, total=10.08s, count=1, min=10082.6ms, max=10082.6ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3735.9ms, max=3735.9ms + task_sampling: mean=510.1ms, total=1.02s, count=2, min=488.2ms, max=532.0ms + task_specific_sample: mean=506.0ms, total=1.01s, count=2, min=484.1ms, max=528.0ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.2ms, max=2.7ms + mj_forward_sync: mean=497.7us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:42:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:42:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:42:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:42:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:42:01 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 13:42:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:42:01 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 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005478m [env.py: 870] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:42:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80998598 0.14655167 0.00547834] yaw=151.0deg [env.py: 1019] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88407397 0.04272613 0.00547834] yaw=156.9deg [env.py: 1019] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89288516 0.1897346 0.00547834] yaw=161.2deg [env.py: 1019] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:42:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.3ms, total=130.4ms [env.py: 1075] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.147, 0.005) [env.py: 1079] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.0 deg [env.py: 1082] +05/11 13:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:42:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:42:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:42:01 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 13:42:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 13:42:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:42:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:42:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:42:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.858s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:42:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.499[m] 86.413[deg] [grasp_sample.py: 539] +05/11 13:42:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:42:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:42:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:42:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:42:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:42:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:42:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:42:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:42:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:43:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:43:56 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:43:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:44:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:44:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:44:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:44:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:44:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 13:44:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.638s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:44:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.163[deg] [grasp_sample.py: 539] +05/11 13:44:05 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:44:06 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:44:06 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:44:06 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes [pipeline.py: 1323] +05/11 13:44:06 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=4886.28s + House averages: + episode_total: mean=151.07s, total=2719.27s, count=18, min=70439.5ms, max=195400.0ms + sensor_polling: mean=364.3ms, total=1835.12s, count=5037, min=300.5ms, max=1025.9ms + save_trajectories: mean=10.34s, total=134.48s, count=13, min=9679.2ms, max=10899.4ms + physics_step: mean=23.8ms, total=119.95s, count=5037, min=14.5ms, max=119.3ms + save_batch_prep: mean=3.81s, total=49.52s, count=13, min=3265.3ms, max=4428.0ms + task_sampling: mean=639.1ms, total=11.50s, count=18, min=366.2ms, max=4029.2ms + task_specific_sample: mean=435.3ms, total=7.84s, count=18, min=362.9ms, max=557.0ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3604.3ms, max=3604.3ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2181.9ms, max=2181.9ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1253.0ms, max=1253.0ms + compile_mujoco: mean=658.7ms, total=658.7ms, count=1, min=658.7ms, max=658.7ms + compile_xml_load: mean=505.2ms, total=505.2ms, count=1, min=505.2ms, max=505.2ms + scene_init: mean=114.6ms, total=114.6ms, count=1, min=114.6ms, max=114.6ms + scene_asset_install: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=2.7ms + compile_robot_add: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + mj_forward_sync: mean=480.1us, total=8.6ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=17.6us, total=0.3ms, 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 13:44:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 13:44:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4886.28s + Worker averages: + episode_total: mean=151.07s, total=2719.27s, count=18, min=70439.5ms, max=195400.0ms + sensor_polling: mean=364.3ms, total=1835.12s, count=5037, min=300.5ms, max=1025.9ms + save_trajectories: mean=10.34s, total=134.48s, count=13, min=9679.2ms, max=10899.4ms + physics_step: mean=23.8ms, total=119.95s, count=5037, min=14.5ms, max=119.3ms + save_batch_prep: mean=3.81s, total=49.52s, count=13, min=3265.3ms, max=4428.0ms + task_sampling: mean=639.1ms, total=11.50s, count=18, min=366.2ms, max=4029.2ms + task_specific_sample: mean=435.3ms, total=7.84s, count=18, min=362.9ms, max=557.0ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3604.3ms, max=3604.3ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2181.9ms, max=2181.9ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1253.0ms, max=1253.0ms + compile_mujoco: mean=658.7ms, total=658.7ms, count=1, min=658.7ms, max=658.7ms + compile_xml_load: mean=505.2ms, total=505.2ms, count=1, min=505.2ms, max=505.2ms + scene_init: mean=114.6ms, total=114.6ms, count=1, min=114.6ms, max=114.6ms + scene_asset_install: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + compile_aux_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + compile_aux_policy_objects: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_grasps: mean=39.4ms, total=39.4ms, count=1, min=39.4ms, max=39.4ms + scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=2.7ms + compile_robot_add: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms + mj_forward_sync: mean=480.1us, total=8.6ms, count=18, min=0.4ms, max=0.8ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=17.6us, total=0.3ms, 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 13:44:09 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 13:44:09 INFO: Success count: 13, Total count: 14 [pipeline.py: 1491] +05/11 13:44:09 INFO: Success rate: 92.86% [pipeline.py: 1492] +05/11 13:44:22 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_100 [pipeline.py: 1174] +05/11 13:44:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:44:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:44:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:44:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_100 [save_utils.py: 785] +05/11 13:44:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.70s (batch: 3.88s, save: 10.82s) [pipeline.py: 300] +05/11 13:44:38 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.91s: + episode_total: mean=178.77s, total=178.77s, count=1, min=178765.8ms, max=178765.8ms + sensor_polling: mean=413.5ms, total=124.05s, count=300, min=395.4ms, max=705.1ms + save_trajectories: mean=10.82s, total=10.82s, count=1, min=10820.8ms, max=10820.8ms + physics_step: mean=23.1ms, total=6.94s, count=300, min=21.6ms, max=42.3ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3883.5ms, max=3883.5ms + task_sampling: mean=905.5ms, total=905.5ms, count=1, min=905.5ms, max=905.5ms + task_specific_sample: mean=902.3ms, total=902.3ms, count=1, min=902.3ms, max=902.3ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=462.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.7us, 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 13:44:39 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:44:39 WARNING: [Worker 0] No trajectory data to save for chunk_100 [pipeline.py: 234] +05/11 13:44:39 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/11 13:44:39 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=4932.35s + House averages: + episode_total: mean=152.90s, total=2752.16s, count=18, min=91147.2ms, max=207702.1ms + sensor_polling: mean=373.0ms, total=1840.19s, count=4933, min=317.8ms, max=722.3ms + save_trajectories: mean=10.77s, total=139.98s, count=13, min=9893.1ms, max=11536.7ms + physics_step: mean=24.4ms, total=120.33s, count=4933, min=15.6ms, max=99.9ms + save_batch_prep: mean=3.76s, total=48.93s, count=13, min=3547.2ms, max=4030.0ms + task_sampling: mean=722.1ms, total=13.00s, count=18, min=326.6ms, max=4011.6ms + task_specific_sample: mean=524.0ms, total=9.43s, count=18, min=322.7ms, max=987.3ms + scene_load: mean=3.50s, total=3.50s, count=1, min=3499.5ms, max=3499.5ms + scene_env_create: mean=2.13s, total=2.13s, count=1, min=2130.1ms, max=2130.1ms + scene_compile: mean=1.20s, total=1.20s, count=1, min=1195.2ms, max=1195.2ms + compile_mujoco: mean=703.2ms, total=703.2ms, count=1, min=703.2ms, max=703.2ms + compile_xml_load: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + scene_init: mean=123.2ms, total=123.2ms, count=1, min=123.2ms, max=123.2ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms + scene_randomize: mean=2.1ms, total=38.1ms, count=18, min=1.2ms, max=3.3ms + asset_install_grasps: mean=36.3ms, total=36.3ms, count=1, min=36.3ms, max=36.3ms + compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + mj_forward_sync: mean=470.8us, total=8.5ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.4us, 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 13:44:39 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 13:44:39 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4932.35s + Worker averages: + episode_total: mean=152.90s, total=2752.16s, count=18, min=91147.2ms, max=207702.1ms + sensor_polling: mean=373.0ms, total=1840.19s, count=4933, min=317.8ms, max=722.3ms + save_trajectories: mean=10.77s, total=139.98s, count=13, min=9893.1ms, max=11536.7ms + physics_step: mean=24.4ms, total=120.33s, count=4933, min=15.6ms, max=99.9ms + save_batch_prep: mean=3.76s, total=48.93s, count=13, min=3547.2ms, max=4030.0ms + task_sampling: mean=722.1ms, total=13.00s, count=18, min=326.6ms, max=4011.6ms + task_specific_sample: mean=524.0ms, total=9.43s, count=18, min=322.7ms, max=987.3ms + scene_load: mean=3.50s, total=3.50s, count=1, min=3499.5ms, max=3499.5ms + scene_env_create: mean=2.13s, total=2.13s, count=1, min=2130.1ms, max=2130.1ms + scene_compile: mean=1.20s, total=1.20s, count=1, min=1195.2ms, max=1195.2ms + compile_mujoco: mean=703.2ms, total=703.2ms, count=1, min=703.2ms, max=703.2ms + compile_xml_load: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + scene_init: mean=123.2ms, total=123.2ms, count=1, min=123.2ms, max=123.2ms + compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms + scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms + scene_randomize: mean=2.1ms, total=38.1ms, count=18, min=1.2ms, max=3.3ms + asset_install_grasps: mean=36.3ms, total=36.3ms, count=1, min=36.3ms, max=36.3ms + compile_robot_add: mean=26.4ms, total=26.4ms, count=1, min=26.4ms, max=26.4ms + asset_install_objects: mean=11.0ms, total=11.0ms, count=1, min=11.0ms, max=11.0ms + mj_forward_sync: mean=470.8us, total=8.5ms, count=18, min=0.4ms, max=0.6ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + policy_setup: mean=21.4us, 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 13:44:42 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 13:44:42 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/11 13:44:42 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge_m/sim_chunks/chunk_100/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_100/trajectories_batch_1_of_4_cam_rand.h5 index cf6f3319fa5f7f4dc9580d2589a216f78a8c202d..1c8d80ab70affc7d65aa5a736e60798ba3857a6c 100644 --- a/fridge_m/sim_chunks/chunk_100/trajectories_batch_1_of_4_cam_rand.h5 +++ b/fridge_m/sim_chunks/chunk_100/trajectories_batch_1_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4a12557f012254d916c5107bfb7b29ed37cb208d1a06126ba87c119237d0fa03 -size 456028818 +oid sha256:8dcf2e42fd81162dc8bd61871130be0bba54b1582200087f888486a9e4566744 +size 766347413 diff --git a/fridge_m/sim_chunks/chunk_100/trajectories_batch_2_of_4_cam_rand.h5 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Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 13:45:27 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 13:45:27 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': 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+ 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40102, + '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, + 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'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 13:45:27 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': 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[pipeline.py: 640] +05/11 13:45:27 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 13:45:27 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 13:45:27 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_101'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40101, + '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 13:45:27 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 13:45:27 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 13:45:27 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 13:45:28 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 13:45:28 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 13:45:31 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 13:45:31 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 13:45:31 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 13:45:31 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 13:45:31 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 13:45:31 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_101'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40103, + '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 13:45:31 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 13:45:31 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 13:45:31 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 13:45:31 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 13:45:31 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 13:45:31 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 13:45:31 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 13:45:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:45:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:45:31 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 13:45:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:45:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094948m [env.py: 870] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:45:31 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 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7149158 0.27880776 0.09494767] yaw=164.3deg [env.py: 1019] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93722949 0.56260498 0.09494767] yaw=-182.3deg [env.py: 1019] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:31 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 13:45:31 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 13:45:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:45:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:31 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 13:45:31 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 13:45:31 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:45:31 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m/sim_chunks/chunk_101'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40104, + '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 13:45:31 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 13:45:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:45:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073934m [env.py: 870] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:45:31 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 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99330762 0.16531686 0.09494767] yaw=166.8deg [env.py: 1019] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:45:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=21.4ms, retries=150.4ms, total=171.8ms [env.py: 1075] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.279, 0.095) [env.py: 1079] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg [env.py: 1082] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m [env.py: 1086] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:31 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 13:45:31 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 13:45:31 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66867225 0.66840989 0.07393359] yaw=-162.6deg [env.py: 1019] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82770055 0.67303784 0.07393359] yaw=-177.1deg [env.py: 1019] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86709992 0.85185042 0.07393359] yaw=-151.0deg [env.py: 1019] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:45:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=58.4ms, retries=180.2ms, total=238.7ms [env.py: 1075] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.669, 0.668, 0.074) [env.py: 1079] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg [env.py: 1082] +05/11 13:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 13:45:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:45:31 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 13:45:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 13:45:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:45:32 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 13:45:34 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 13:45:34 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 13:45:34 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 13:45:34 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 13:45:34 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 13:45:34 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 13:45:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:45:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:45:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:45:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:45:34 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 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038576m [env.py: 870] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:45:34 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 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:34 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 13:45:34 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 13:45:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:45:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:45:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:45:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:45:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031620m [env.py: 870] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:45:34 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 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86965878 1.09455833 0.0385761 ] yaw=-132.9deg [env.py: 1019] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06755065 1.24564584 0.03162017] yaw=-136.9deg [env.py: 1019] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:45:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=22.5ms, retries=225.8ms, total=248.3ms [env.py: 1075] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 1.095, 0.039) [env.py: 1079] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.9 deg [env.py: 1082] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74651752 0.68804959 0.03162017] yaw=-166.6deg [env.py: 1019] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88232517 1.07858041 0.03162017] yaw=-133.7deg [env.py: 1019] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:45:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=28.9ms, retries=379.3ms, total=408.2ms [env.py: 1075] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.246, 0.032) [env.py: 1079] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.9 deg [env.py: 1082] +05/11 13:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:45:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:45:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:45:35 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 13:45:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:45:35 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 13:46:09 INFO: [Worker 0] Warmed up parallel IK solver in 37.413s [base_object_manipulation_planner_policy.py: 377] +05/11 13:46:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:46:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:46:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:46:09 INFO: [Worker 0] Warmed up parallel IK solver in 37.878s [base_object_manipulation_planner_policy.py: 377] +05/11 13:46:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:46:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:46:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:46:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.827s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:46:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.564[m] 89.478[deg] [grasp_sample.py: 539] +05/11 13:46:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:46:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:46:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:46:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:46:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.251s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:46:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 85.099[deg] [grasp_sample.py: 539] +05/11 13:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:46:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:46:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:46:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:46:13 INFO: [Worker 0] Warmed up parallel IK solver in 38.391s [base_object_manipulation_planner_policy.py: 377] +05/11 13:46:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:46:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:46:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:46:14 INFO: [Worker 0] Warmed up parallel IK solver in 39.653s [base_object_manipulation_planner_policy.py: 377] +05/11 13:46:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:46:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:46:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:46:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.180s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:46:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 82.814[deg] [grasp_sample.py: 539] +05/11 13:46:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.822s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:46:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.548[m] 83.568[deg] [grasp_sample.py: 539] +05/11 13:46:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:46:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:46:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:46:17 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:46:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:46:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:46:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:46:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:46:19 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 13:46:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:46:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040178m [env.py: 870] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:46:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06470102 0.91446084 0.04017782] yaw=-153.5deg [env.py: 1019] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0410407 0.87916548 0.04017782] yaw=-142.2deg [env.py: 1019] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09833853 0.97749264 0.04017782] yaw=-134.8deg [env.py: 1019] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:46:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.6ms, total=152.6ms [env.py: 1075] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 0.914, 0.040) [env.py: 1079] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg [env.py: 1082] +05/11 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m [env.py: 1086] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:46:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:46:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:46:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 13:46:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:46:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:46:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:46:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:46:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.364[m] 91.295[deg] [grasp_sample.py: 539] +05/11 13:46:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:46:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:46:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:46:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:46:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:46:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:47:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:47:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:47:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:47:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:47:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:47:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:47:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:47:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:47:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:47:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:25 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:33 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:35 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:48:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:48:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:48:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:48:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:48:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:48:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.001s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:48:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.130[deg] [grasp_sample.py: 539] +05/11 13:48:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:48:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:48:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:48:50 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:48:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:48:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:48:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:49:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:49:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 13:49:03 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/11 13:49:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:49:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:49:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:49:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:49:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:49:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.80s (batch: 4.94s, save: 11.86s) [pipeline.py: 300] +05/11 13:49:15 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.67s: + episode_total: mean=227.83s, total=227.83s, count=1, min=227829.7ms, max=227829.7ms + sensor_polling: mean=412.4ms, total=123.71s, count=300, min=339.8ms, max=662.6ms + save_trajectories: mean=11.86s, total=11.86s, count=1, min=11861.0ms, max=11861.0ms + physics_step: mean=26.3ms, total=7.88s, count=300, min=22.0ms, max=40.1ms + save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4941.4ms, max=4941.4ms + task_sampling: mean=4.67s, total=4.67s, count=1, min=4668.9ms, max=4668.9ms + scene_load: mean=4.03s, total=4.03s, count=1, min=4032.2ms, max=4032.2ms + scene_env_create: mean=2.24s, total=2.24s, count=1, min=2239.6ms, max=2239.6ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1490.1ms, max=1490.1ms + compile_mujoco: mean=874.2ms, total=874.2ms, count=1, min=874.2ms, max=874.2ms + task_specific_sample: mean=632.5ms, total=632.5ms, count=1, min=632.5ms, max=632.5ms + compile_xml_load: mean=511.3ms, total=511.3ms, count=1, min=511.3ms, max=511.3ms + scene_init: mean=180.3ms, total=180.3ms, count=1, min=180.3ms, max=180.3ms + scene_asset_install: mean=121.8ms, total=121.8ms, count=1, min=121.8ms, max=121.8ms + asset_install_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms + compile_aux_objects: mean=70.5ms, total=70.5ms, count=1, min=70.5ms, max=70.5ms + compile_aux_policy_objects: mean=70.5ms, total=70.5ms, count=1, min=70.5ms, max=70.5ms + asset_install_grasps: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms + compile_robot_add: mean=25.0ms, total=25.0ms, count=1, min=25.0ms, max=25.0ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=654.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=41.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:49:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:49:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:49:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:49:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:49:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:49:16 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 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050648m [env.py: 870] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:49:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88009001 1.20193982 0.05064789] yaw=-136.2deg [env.py: 1019] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85736176 0.82774762 0.05064789] yaw=-166.9deg [env.py: 1019] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08316585 1.13230621 0.05064789] yaw=-142.4deg [env.py: 1019] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms [env.py: 1075] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 1.202, 0.051) [env.py: 1079] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg [env.py: 1082] +05/11 13:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:49:17 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:49:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 13:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:49:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:49:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:49:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:49:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:49:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:49:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.844s, found feasible grasp: False [grasp_sample.py: 500] +05/11 13:49:19 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 13:49:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:49:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:49:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.02s (batch: 4.97s, save: 12.05s) [pipeline.py: 300] +05/11 13:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:49:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:49:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:49:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:49:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049998m [env.py: 870] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15687205 1.06363299 0.04999841] yaw=-137.1deg [env.py: 1019] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08124886 1.05547381 0.04999841] yaw=-125.9deg [env.py: 1019] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79580737 0.63094284 0.04999841] yaw=-160.6deg [env.py: 1019] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.1ms, total=134.1ms [env.py: 1075] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.157, 1.064, 0.050) [env.py: 1079] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.1 deg [env.py: 1082] +05/11 13:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m [env.py: 1086] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:49:21 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 13:49:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:49:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:49:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:49:21 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.31s: + episode_total: mean=113.98s, total=227.96s, count=2, min=45910.9ms, max=182047.7ms + sensor_polling: mean=415.4ms, total=122.13s, count=294, min=343.5ms, max=619.7ms + save_trajectories: mean=12.05s, total=12.05s, count=1, min=12051.2ms, max=12051.2ms + physics_step: mean=28.0ms, total=8.24s, count=294, min=18.3ms, max=42.3ms + save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4965.6ms, max=4965.6ms + task_sampling: mean=2.16s, total=4.31s, count=2, min=430.9ms, max=3882.8ms + scene_load: mean=3.15s, total=3.15s, count=1, min=3145.0ms, max=3145.0ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1811.0ms, max=1811.0ms + task_specific_sample: mean=580.6ms, total=1.16s, count=2, min=428.2ms, max=733.0ms + scene_compile: mean=1.09s, total=1.09s, count=1, min=1093.5ms, max=1093.5ms + compile_mujoco: mean=745.6ms, total=745.6ms, count=1, min=745.6ms, max=745.6ms + compile_xml_load: mean=244.3ms, total=244.3ms, count=1, min=244.3ms, max=244.3ms + scene_init: mean=135.0ms, total=135.0ms, count=1, min=135.0ms, max=135.0ms + scene_asset_install: mean=105.1ms, total=105.1ms, count=1, min=105.1ms, max=105.1ms + compile_aux_objects: mean=81.6ms, total=81.6ms, count=1, min=81.6ms, max=81.6ms + compile_aux_policy_objects: mean=81.6ms, total=81.6ms, count=1, min=81.6ms, max=81.6ms + asset_install_grasps: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + asset_install_objects: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms + compile_robot_add: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms + asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.4ms, max=1.7ms + mj_forward_sync: mean=574.6us, total=1.1ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=34.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:49:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.793s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:49:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.355[m] 80.265[deg] [grasp_sample.py: 539] +05/11 13:49:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:49:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:49:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:49:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:49:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:49:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.49s (batch: 4.66s, save: 11.83s) [pipeline.py: 300] +05/11 13:49:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:49:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:49:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:49:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:49:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:49:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041230m [env.py: 870] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:49:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63975422 0.37753445 0.04122964] yaw=183.1deg [env.py: 1019] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80782749 0.68971794 0.04122964] yaw=-161.9deg [env.py: 1019] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61910375 0.57292029 0.04122964] yaw=-167.7deg [env.py: 1019] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:49:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=99.5ms, total=99.5ms [env.py: 1075] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.640, 0.378, 0.041) [env.py: 1079] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.1 deg [env.py: 1082] +05/11 13:49:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:49:23 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:49:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 13:49:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:49:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:49:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:49:24 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.43s: + episode_total: mean=237.07s, total=237.07s, count=1, min=237065.6ms, max=237065.6ms + sensor_polling: mean=415.9ms, total=124.77s, count=300, min=359.6ms, max=595.3ms + save_trajectories: mean=11.83s, total=11.83s, count=1, min=11829.9ms, max=11829.9ms + physics_step: mean=28.7ms, total=8.61s, count=300, min=22.8ms, max=42.9ms + save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4663.3ms, max=4663.3ms + task_sampling: mean=4.43s, total=4.43s, count=1, min=4430.3ms, max=4430.3ms + scene_load: mean=3.90s, total=3.90s, count=1, min=3897.4ms, max=3897.4ms + scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.0ms, max=2204.0ms + scene_compile: mean=1.52s, total=1.52s, count=1, min=1515.6ms, max=1515.6ms + compile_mujoco: mean=835.3ms, total=835.3ms, count=1, min=835.3ms, max=835.3ms + compile_xml_load: mean=592.4ms, total=592.4ms, count=1, min=592.4ms, max=592.4ms + task_specific_sample: mean=530.0ms, total=530.0ms, count=1, min=530.0ms, max=530.0ms + scene_init: mean=119.3ms, total=119.3ms, count=1, min=119.3ms, max=119.3ms + scene_asset_install: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + asset_install_grasps: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms + compile_robot_add: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=466.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:49:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:49:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.664[m] 96.918[deg] [grasp_sample.py: 539] +05/11 13:49:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:49:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:49:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:49:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:49:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:49:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:49:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:49:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:49:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:49:26 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 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006953m [env.py: 870] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:49:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65685583 0.46064921 0.00695316] yaw=177.4deg [env.py: 1019] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80182973 0.99967519 0.00695316] yaw=-149.3deg [env.py: 1019] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81135057 0.63979332 0.00695316] yaw=-173.5deg [env.py: 1019] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:49:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=108.3ms, total=108.4ms [env.py: 1075] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.657, 0.461, 0.007) [env.py: 1079] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.4 deg [env.py: 1082] +05/11 13:49:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:49:26 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:49:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 13:49:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:49:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:49:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:49:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.934s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:49:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.604[m] 91.975[deg] [grasp_sample.py: 539] +05/11 13:49:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:49:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:49:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:49:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:49:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:49:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:49:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 18.42s (batch: 4.76s, save: 13.65s) [pipeline.py: 300] +05/11 13:49:37 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.95s: + episode_total: mean=246.75s, total=246.75s, count=1, min=246747.1ms, max=246747.1ms + sensor_polling: mean=431.0ms, total=129.31s, count=300, min=367.7ms, max=1098.5ms + save_trajectories: mean=13.65s, total=13.65s, count=1, min=13652.9ms, max=13652.9ms + physics_step: mean=29.4ms, total=8.83s, count=300, min=19.3ms, max=44.3ms + save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4762.2ms, max=4762.2ms + task_sampling: mean=3.95s, total=3.95s, count=1, min=3947.2ms, max=3947.2ms + scene_load: mean=3.29s, total=3.29s, count=1, min=3287.2ms, max=3287.2ms + scene_env_create: mean=1.88s, total=1.88s, count=1, min=1881.3ms, max=1881.3ms + scene_compile: mean=1.21s, total=1.21s, count=1, min=1209.0ms, max=1209.0ms + compile_mujoco: mean=712.3ms, total=712.3ms, count=1, min=712.3ms, max=712.3ms + task_specific_sample: mean=657.1ms, total=657.1ms, count=1, min=657.1ms, max=657.1ms + compile_xml_load: mean=316.8ms, total=316.8ms, count=1, min=316.8ms, max=316.8ms + compile_aux_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms + compile_aux_policy_objects: mean=148.9ms, total=148.9ms, count=1, min=148.9ms, max=148.9ms + scene_init: mean=142.5ms, total=142.5ms, count=1, min=142.5ms, max=142.5ms + scene_asset_install: mean=54.0ms, total=54.0ms, count=1, min=54.0ms, max=54.0ms + asset_install_grasps: mean=37.0ms, total=37.0ms, count=1, min=37.0ms, max=37.0ms + compile_robot_add: mean=22.3ms, total=22.3ms, count=1, min=22.3ms, max=22.3ms + asset_install_objects: mean=12.4ms, total=12.4ms, count=1, min=12.4ms, max=12.4ms + asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=473.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=47.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:49:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:49:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:49:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:49:39 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 13:49:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:49:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016196m [env.py: 870] +05/11 13:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:49:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.61652843 0.36127725 0.01619586] yaw=163.4deg [env.py: 1019] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69557572 0.44875111 0.01619586] yaw=172.0deg [env.py: 1019] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90138187 0.90082412 0.01619586] yaw=-149.4deg [env.py: 1019] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:49:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.0ms, total=187.1ms [env.py: 1075] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.361, 0.016) [env.py: 1079] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg [env.py: 1082] +05/11 13:49:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/11 13:49:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:49:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:49:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:49:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:49:40 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 13:49:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 13:49:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:49:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:49:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:49:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.959s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:49:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.626[m] 86.605[deg] [grasp_sample.py: 539] +05/11 13:49:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:49:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:49:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:49:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:49:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:49:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:50:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:50:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:50:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:50:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:50:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:50:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:50:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:50:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:50:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:50:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:51:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:51:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:51:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:51:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:51:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:51:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.594s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:51:15 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.414[deg] [grasp_sample.py: 539] +05/11 13:51:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:51:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:51:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:51:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:51:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:51:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:51:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:51:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:51:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.158s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:51:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.345[deg] [grasp_sample.py: 539] +05/11 13:51:30 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:51:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:51:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:51:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:51:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:51:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094155m [env.py: 870] +05/11 13:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74493197 0.86620119 0.09415533] yaw=-154.7deg [env.py: 1019] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83351411 0.62902519 0.09415533] yaw=-165.5deg [env.py: 1019] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14525554 1.04434223 0.09415533] yaw=-133.1deg [env.py: 1019] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:51:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=261.5ms, total=261.6ms [env.py: 1075] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.866, 0.094) [env.py: 1079] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg [env.py: 1082] +05/11 13:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/11 13:51:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:51:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:51:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:51:33 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:51:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/11 13:51:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:51:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:51:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:51:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:51:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.173s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:51:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.574[m] 86.610[deg] [grasp_sample.py: 539] +05/11 13:51:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:51:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:51:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:51:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:51:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:51:45 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:51:56 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 13:51:56 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.44s: + episode_total: mean=152.75s, total=152.75s, count=1, min=152754.3ms, max=152754.3ms + sensor_polling: mean=411.0ms, total=123.31s, count=300, min=334.7ms, max=662.6ms + physics_step: mean=26.8ms, total=8.05s, count=300, min=17.8ms, max=39.8ms + task_sampling: mean=437.4ms, total=437.4ms, count=1, min=437.4ms, max=437.4ms + task_specific_sample: mean=431.7ms, total=431.7ms, count=1, min=431.7ms, max=431.7ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=820.2us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=30.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:51:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:51:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:51:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:51:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:51:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:51:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:51:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014987m [env.py: 870] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:51:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65266707 0.53258256 0.01498672] yaw=-185.0deg [env.py: 1019] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72540081 0.26608323 0.01498672] yaw=159.6deg [env.py: 1019] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86072167 0.85481417 0.01498672] yaw=-146.8deg [env.py: 1019] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:51:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.4ms, total=191.5ms [env.py: 1075] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.533, 0.015) [env.py: 1079] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.0 deg [env.py: 1082] +05/11 13:51:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:51:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:51:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:51:58 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:51:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 13:51:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:51:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:51:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:51:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.782s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:51:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.619[m] 94.124[deg] [grasp_sample.py: 539] +05/11 13:51:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:52:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:52:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:52:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:52:04 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:52:14 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:52:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:52:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:52:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:52:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:52:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:52:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.24s (batch: 4.53s, save: 12.70s) [pipeline.py: 300] +05/11 13:52:32 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s: + episode_total: mean=186.17s, total=186.17s, count=1, min=186170.9ms, max=186170.9ms + sensor_polling: mean=417.8ms, total=125.33s, count=300, min=356.2ms, max=672.4ms + save_trajectories: mean=12.70s, total=12.70s, count=1, min=12704.7ms, max=12704.7ms + physics_step: mean=29.1ms, total=8.74s, count=300, min=22.3ms, max=46.5ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4534.4ms, max=4534.4ms + task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms + task_specific_sample: mean=422.2ms, total=422.2ms, count=1, min=422.2ms, max=422.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=703.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:52:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:52:33 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:52:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:52:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:52:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:52:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:52:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:52:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:52:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096875m [env.py: 870] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15459377 1.11296811 0.09687485] yaw=-120.5deg [env.py: 1019] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73712642 0.54573522 0.09687485] yaw=-177.7deg [env.py: 1019] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:52:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=198.2ms, total=198.3ms [env.py: 1075] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.155, 1.113, 0.097) [env.py: 1079] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.5 deg [env.py: 1082] +05/11 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:52:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:52:34 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:52:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 13:52:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:52:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:52:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:52:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:52:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 89.371[deg] [grasp_sample.py: 539] +05/11 13:52:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:52:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:52:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:52:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:52:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:52:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:52:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.92s (batch: 4.99s, save: 11.92s) [pipeline.py: 300] +05/11 13:52:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.65s: + episode_total: mean=191.45s, total=191.45s, count=1, min=191446.2ms, max=191446.2ms + sensor_polling: mean=434.3ms, total=130.28s, count=300, min=365.4ms, max=679.3ms + save_trajectories: mean=11.92s, total=11.92s, count=1, min=11924.4ms, max=11924.4ms + physics_step: mean=29.5ms, total=8.86s, count=300, min=22.7ms, max=43.9ms + save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4991.3ms, max=4991.3ms + task_sampling: mean=654.8ms, total=654.8ms, count=1, min=654.8ms, max=654.8ms + task_specific_sample: mean=650.8ms, total=650.8ms, count=1, min=650.8ms, max=650.8ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=504.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=41.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:52:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:52:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:52:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:52:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:52:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:52:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:52:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017652m [env.py: 870] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:52:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16196307 1.07938735 0.01765212] yaw=-127.1deg [env.py: 1019] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15892318 1.063143 0.01765212] yaw=-142.7deg [env.py: 1019] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71353709 0.06109559 0.01765212] yaw=154.3deg [env.py: 1019] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=122.4ms, total=122.4ms [env.py: 1075] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.079, 0.018) [env.py: 1079] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.1 deg [env.py: 1082] +05/11 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:52:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:52:53 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 13:52:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/11 13:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:52:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:52:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:52:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.826s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:52:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 96.138[deg] [grasp_sample.py: 539] +05/11 13:52:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:52:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:52:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:52:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:53:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:53:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:53:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:53:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:53:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:53:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:53:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:53:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:53:50 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:54:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:54:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:54:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:54:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:54:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:54:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:54:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:54:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:54:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.942s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:54:40 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.274[deg] [grasp_sample.py: 539] +05/11 13:54:42 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:54:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:54:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:54:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 18.07s (batch: 5.08s, save: 12.98s) [pipeline.py: 300] +05/11 13:54:42 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.36s: + episode_total: mean=107.51s, total=322.53s, count=3, min=2492.4ms, max=190007.7ms + sensor_polling: mean=410.4ms, total=226.55s, count=552, min=337.9ms, max=817.4ms + physics_step: mean=26.7ms, total=14.76s, count=552, min=19.3ms, max=43.2ms + save_trajectories: mean=12.98s, total=12.98s, count=1, min=12981.8ms, max=12981.8ms + save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5083.4ms, max=5083.4ms + task_sampling: mean=453.9ms, total=1.36s, count=3, min=380.2ms, max=539.3ms + task_specific_sample: mean=450.4ms, total=1.35s, count=3, min=377.1ms, max=536.2ms + scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.1ms, max=2.8ms + mj_forward_sync: mean=541.6us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=21.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:54:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:54:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:54:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:54:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:54:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:54:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:54:44 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 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081502m [env.py: 870] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:54:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99284599 1.29631808 0.08150226] yaw=-122.2deg [env.py: 1019] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92689901 0.51555865 0.08150226] yaw=-179.1deg [env.py: 1019] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91815783 0.74152576 0.08150226] yaw=-171.3deg [env.py: 1019] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:54:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=93.1ms, total=93.2ms [env.py: 1075] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, 1.296, 0.082) [env.py: 1079] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.2 deg [env.py: 1082] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:54:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:54:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:54:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:54:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:54:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:54:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:54:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079260m [env.py: 870] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:54:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93953076 0.21110902 0.07925967] yaw=154.7deg [env.py: 1019] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79250558 0.56225518 0.07925967] yaw=-180.7deg [env.py: 1019] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98206214 0.173625 0.07925967] yaw=151.3deg [env.py: 1019] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:54:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=272.3ms, total=272.3ms [env.py: 1075] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.211, 0.079) [env.py: 1079] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.7 deg [env.py: 1082] +05/11 13:54:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:54:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:54:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:54:44 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:54:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 13:54:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:54:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:54:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:54:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:54:45 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 13:54:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 13:54:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:54:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:54:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:54:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.750s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:54:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 88.671[deg] [grasp_sample.py: 539] +05/11 13:54:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:54:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:54:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:54:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:54:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.937s, found feasible grasp: False [grasp_sample.py: 500] +05/11 13:54:46 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 13:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:54:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:54:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:54:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:54:48 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 13:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035053m [env.py: 870] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05112128 0.87277073 0.03505343] yaw=-143.0deg [env.py: 1019] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84175918 0.04166825 0.03505343] yaw=161.7deg [env.py: 1019] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93276236 1.26576374 0.03505343] yaw=-124.1deg [env.py: 1019] +05/11 13:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:54:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.4ms [env.py: 1075] +05/11 13:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.873, 0.035) [env.py: 1079] +05/11 13:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg [env.py: 1082] +05/11 13:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m [env.py: 1086] +05/11 13:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:54:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:54:49 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 13:54:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 13:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:54:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:54:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:54:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.642s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:54:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.383[m] 99.780[deg] [grasp_sample.py: 539] +05/11 13:54:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:54:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:54:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:55:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:55:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.201s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 13:55:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.213s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:55:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.493[deg] [grasp_sample.py: 539] +05/11 13:55:09 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:55:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:55:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:55:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:55:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:55:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:55:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:55:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045982m [env.py: 870] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:55:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76897391 0.12996217 0.04598158] yaw=159.1deg [env.py: 1019] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66883462 0.60382641 0.04598158] yaw=-163.0deg [env.py: 1019] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65447302 0.40182873 0.04598158] yaw=173.1deg [env.py: 1019] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:55:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=222.1ms, total=222.2ms [env.py: 1075] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.130, 0.046) [env.py: 1079] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg [env.py: 1082] +05/11 13:55:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:55:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:55:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:55:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 13:55:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 13:55:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:55:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:55:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:55:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:55:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.597[m] 100.634[deg] [grasp_sample.py: 539] +05/11 13:55:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:55:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:55:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:55:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:55:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:55:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:55:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:55:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:55:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:55:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:56:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:56:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 13:56:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 13:56:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 13:56:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:56:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:56:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.108s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 13:56:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.573s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:56:22 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.644[deg] [grasp_sample.py: 539] +05/11 13:56:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:56:24 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 13:56:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:56:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:56:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:56:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:56:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:56:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:56:26 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 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034128m [env.py: 870] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:56:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93540558 0.85292823 0.03412839] yaw=-153.4deg [env.py: 1019] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83096787 0.98729326 0.03412839] yaw=-142.6deg [env.py: 1019] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:56:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=289.3ms, total=289.4ms [env.py: 1075] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.853, 0.034) [env.py: 1079] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg [env.py: 1082] +05/11 13:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:56:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:56:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 13:56:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 13:56:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:56:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:56:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:56:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:56:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 91.438[deg] [grasp_sample.py: 539] +05/11 13:56:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:56:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:56:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:56:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:57:06 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:57:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:57:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:57:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:57:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:57:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 13:57:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:57:37 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:57:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:57:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:57:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 20.72s (batch: 4.81s, save: 15.91s) [pipeline.py: 300] +05/11 13:57:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.42s: + episode_total: mean=106.25s, total=318.76s, count=3, min=2551.9ms, max=188363.6ms + sensor_polling: mean=409.8ms, total=226.19s, count=552, min=314.3ms, max=1386.8ms + save_trajectories: mean=15.91s, total=15.91s, count=1, min=15911.9ms, max=15911.9ms + physics_step: mean=28.5ms, total=15.71s, count=552, min=19.9ms, max=113.2ms + save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4809.0ms, max=4809.0ms + task_sampling: mean=474.6ms, total=1.42s, count=3, min=430.3ms, max=516.0ms + task_specific_sample: mean=470.6ms, total=1.41s, count=3, min=426.4ms, max=511.4ms + scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.4ms, max=3.0ms + mj_forward_sync: mean=622.0us, total=1.9ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=23.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:57:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:57:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:57:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:57:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:57:59 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 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083219m [env.py: 870] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93540174 0.57411726 0.08321886] yaw=-163.4deg [env.py: 1019] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89055436 0.34189557 0.08321886] yaw=169.3deg [env.py: 1019] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=429.9ms, total=429.9ms [env.py: 1075] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.574, 0.083) [env.py: 1079] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg [env.py: 1082] +05/11 13:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m [env.py: 1086] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:58:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:58:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 13:58:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.265s [base_object_manipulation_planner_policy.py: 377] +05/11 13:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:58:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:58:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:58:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.104s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:58:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 91.129[deg] [grasp_sample.py: 539] +05/11 13:58:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:58:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:58:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:58:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:58:18 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:58:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 13:58:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:58:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:58:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:58:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:58:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.86s (batch: 3.60s, save: 11.27s) [pipeline.py: 300] +05/11 13:58:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.99s: + episode_total: mean=169.43s, total=338.86s, count=2, min=135944.4ms, max=202913.9ms + sensor_polling: mean=427.6ms, total=239.45s, count=560, min=326.9ms, max=991.2ms + physics_step: mean=29.3ms, total=16.41s, count=560, min=17.9ms, max=87.0ms + save_trajectories: mean=11.27s, total=11.27s, count=1, min=11265.8ms, max=11265.8ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3596.9ms, max=3596.9ms + task_sampling: mean=492.5ms, total=985.1ms, count=2, min=431.2ms, max=553.9ms + task_specific_sample: mean=489.1ms, total=978.2ms, count=2, min=427.6ms, max=550.6ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.3ms, max=2.2ms + mj_forward_sync: mean=499.8us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:58:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:58:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:58:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:58:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:58:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:58:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:58:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:58:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 13:58:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:58:35 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 13:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082594m [env.py: 870] +05/11 13:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:58:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:58:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7710186 0.78510992 0.08259404] yaw=-169.0deg [env.py: 1019] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91506139 1.13961916 0.08259404] yaw=-135.3deg [env.py: 1019] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76890166 0.5636763 0.08259404] yaw=-179.2deg [env.py: 1019] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:58:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.8ms, total=214.8ms [env.py: 1075] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.785, 0.083) [env.py: 1079] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg [env.py: 1082] +05/11 13:58:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/11 13:58:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:58:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:58:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:58:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:58:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 13:58:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 13:58:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:58:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:58:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:58:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.399s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:58:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.564[m] 88.411[deg] [grasp_sample.py: 539] +05/11 13:58:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:58:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:58:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:58:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:58:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 13:58:51 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 13:59:18 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 13:59:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 13:59:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 13:59:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:59:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 13:59:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 13:59:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 18.56s (batch: 3.98s, save: 14.58s) [pipeline.py: 300] +05/11 13:59:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s: + episode_total: mean=145.71s, total=291.42s, count=2, min=100174.3ms, max=191247.3ms + sensor_polling: mean=432.9ms, total=204.77s, count=473, min=318.3ms, max=1520.9ms + save_trajectories: mean=14.58s, total=14.58s, count=1, min=14582.5ms, max=14582.5ms + physics_step: mean=30.2ms, total=14.27s, count=473, min=18.1ms, max=151.4ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.6ms, max=3980.6ms + task_sampling: mean=583.6ms, total=1.17s, count=2, min=582.0ms, max=585.3ms + task_specific_sample: mean=579.8ms, total=1.16s, count=2, min=578.9ms, max=580.7ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.2ms, max=3.0ms + mj_forward_sync: mean=567.2us, total=1.1ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 13:59:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 13:59:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 13:59:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:59:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 13:59:39 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 13:59:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 13:59:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031426m [env.py: 870] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 13:59:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9294331 0.68742657 0.03142563] yaw=-154.4deg [env.py: 1019] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93690845 0.93039334 0.03142563] yaw=-145.9deg [env.py: 1019] +05/11 13:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 13:59:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=868.9ms, total=868.9ms [env.py: 1075] +05/11 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.687, 0.031) [env.py: 1079] +05/11 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg [env.py: 1082] +05/11 13:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/11 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 13:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 13:59:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 13:59:40 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 13:59:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.263s [base_object_manipulation_planner_policy.py: 377] +05/11 13:59:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 13:59:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 13:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.410s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 13:59:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 13:59:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.569s, found feasible grasp: True [grasp_sample.py: 500] +05/11 13:59:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.334[m] 77.091[deg] [grasp_sample.py: 539] +05/11 13:59:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 13:59:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 13:59:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 13:59:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 13:59:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:00:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:00:22 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:00:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:00:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:00:49 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:00:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:00:49 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/11 14:01:01 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:01:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:01:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:01:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.01s (batch: 4.27s, save: 11.74s) [pipeline.py: 300] +05/11 14:01:06 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.86s: + episode_total: mean=187.13s, total=187.13s, count=1, min=187126.8ms, max=187126.8ms + sensor_polling: mean=436.3ms, total=128.28s, count=294, min=346.8ms, max=850.3ms + save_trajectories: mean=11.74s, total=11.74s, count=1, min=11744.3ms, max=11744.3ms + physics_step: mean=30.4ms, total=8.94s, count=294, min=22.0ms, max=155.8ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4268.4ms, max=4268.4ms + task_sampling: mean=861.7ms, total=861.7ms, count=1, min=861.7ms, max=861.7ms + task_specific_sample: mean=847.1ms, total=847.1ms, count=1, min=847.1ms, max=847.1ms + scene_randomize: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms + mj_forward_sync: mean=554.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.0us, 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 14:01:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:01:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:01:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:01:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:01:07 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 14:01:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:01:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043097m [env.py: 870] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:01:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91502923 0.60088835 0.0430975 ] yaw=-161.8deg [env.py: 1019] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97063215 0.82529625 0.0430975 ] yaw=-148.3deg [env.py: 1019] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81984932 0.15950404 0.0430975 ] yaw=157.1deg [env.py: 1019] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:01:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.2ms, total=105.2ms [env.py: 1075] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.601, 0.043) [env.py: 1079] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg [env.py: 1082] +05/11 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m [env.py: 1086] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:01:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:01:08 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 14:01:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/11 14:01:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:01:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:01:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:01:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:01:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 92.281[deg] [grasp_sample.py: 539] +05/11 14:01:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:01:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:01:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:01:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:01:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:01:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:01:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:01:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:01:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:01:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:01:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 18.76s (batch: 4.36s, save: 14.40s) [pipeline.py: 300] +05/11 14:01:53 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.61s: + episode_total: mean=197.81s, total=197.81s, count=1, min=197809.5ms, max=197809.5ms + sensor_polling: mean=434.1ms, total=130.23s, count=300, min=348.1ms, max=1237.5ms + save_trajectories: mean=14.40s, total=14.40s, count=1, min=14402.5ms, max=14402.5ms + physics_step: mean=29.4ms, total=8.82s, count=300, min=17.1ms, max=105.9ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.3ms, max=4358.3ms + task_sampling: mean=611.9ms, total=611.9ms, count=1, min=611.9ms, max=611.9ms + task_specific_sample: mean=607.0ms, total=607.0ms, count=1, min=607.0ms, max=607.0ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=654.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=28.8us, 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 14:01:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:01:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:01:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:01:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:01:55 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 14:01:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:01:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078221m [env.py: 870] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:01:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8993969 0.79857622 0.0782215 ] yaw=-147.6deg [env.py: 1019] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9506257 1.04843083 0.0782215 ] yaw=-138.7deg [env.py: 1019] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:01:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.5ms, total=241.5ms [env.py: 1075] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.799, 0.078) [env.py: 1079] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg [env.py: 1082] +05/11 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:01:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:01:55 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 14:01:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/11 14:01:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:01:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:01:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:01:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.044s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:01:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 79.875[deg] [grasp_sample.py: 539] +05/11 14:01:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:01:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:01:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:01:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:02:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:02:01 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:02:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:02:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:02:26 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/11 14:02:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:02:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:02:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:02:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:02:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 13.98s (batch: 3.80s, save: 10.18s) [pipeline.py: 300] +05/11 14:02:40 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.28s: + episode_total: mean=181.37s, total=181.37s, count=1, min=181371.2ms, max=181371.2ms + sensor_polling: mean=440.1ms, total=126.31s, count=287, min=343.4ms, max=1126.5ms + save_trajectories: mean=10.18s, total=10.18s, count=1, min=10176.6ms, max=10176.6ms + physics_step: mean=29.6ms, total=8.49s, count=287, min=21.9ms, max=113.8ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3801.5ms, max=3801.5ms + task_sampling: mean=1.28s, total=1.28s, count=1, min=1279.4ms, max=1279.4ms + task_specific_sample: mean=1.27s, total=1.27s, count=1, min=1273.3ms, max=1273.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + policy_setup: mean=24.5us, 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 14:02:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:02:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:02:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:02:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:02:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:02:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:02:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092040m [env.py: 870] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:02:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9845128 1.28040035 0.09204039] yaw=-138.0deg [env.py: 1019] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71503135 0.56073942 0.09204039] yaw=-164.5deg [env.py: 1019] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.67580047 0.10008415 0.09204039] yaw=163.1deg [env.py: 1019] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:02:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=232.0ms, total=232.0ms [env.py: 1075] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.280, 0.092) [env.py: 1079] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg [env.py: 1082] +05/11 14:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:02:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:02:42 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 14:02:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 14:02:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:02:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:02:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:02:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:02:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.898s, found feasible grasp: False [grasp_sample.py: 500] +05/11 14:02:44 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 14:02:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:02:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:02:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:02:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:02:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:02:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:02:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041123m [env.py: 870] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:02:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67850165 0.18785167 0.04112267] yaw=158.9deg [env.py: 1019] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72952985 0.01744492 0.04112267] yaw=149.5deg [env.py: 1019] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86215151 0.60312865 0.04112267] yaw=-160.4deg [env.py: 1019] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:02:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.4ms, total=223.4ms [env.py: 1075] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.188, 0.041) [env.py: 1079] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.9 deg [env.py: 1082] +05/11 14:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:02:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:02:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 14:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 14:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:02:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:02:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:02:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.401s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:02:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.618[m] 90.774[deg] [grasp_sample.py: 539] +05/11 14:02:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:02:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:02:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:02:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:03:31 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:03:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:03:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:03:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:03:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:03:58 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/11 14:03:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:04:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:04:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:04:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:04:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.16s (batch: 3.82s, save: 11.34s) [pipeline.py: 300] +05/11 14:04:14 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s: + episode_total: mean=186.46s, total=186.46s, count=1, min=186456.8ms, max=186456.8ms + sensor_polling: mean=431.1ms, total=128.03s, count=297, min=339.3ms, max=772.9ms + save_trajectories: mean=11.34s, total=11.34s, count=1, min=11335.8ms, max=11335.8ms + physics_step: mean=28.7ms, total=8.52s, count=297, min=17.1ms, max=82.2ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3821.5ms, max=3821.5ms + task_sampling: mean=445.2ms, total=445.2ms, count=1, min=445.2ms, max=445.2ms + task_specific_sample: mean=441.4ms, total=441.4ms, count=1, min=441.4ms, max=441.4ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=465.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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 14:04:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:04:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:04:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:04:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:04:16 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 14:04:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:04:16 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 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000100m [env.py: 870] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:04:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01049123e+00 1.30674596e+00 1.00254206e-04] yaw=-124.4deg [env.py: 1019] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.33438817e-01 4.33541850e-01 1.00254206e-04] yaw=177.8deg [env.py: 1019] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.52302616e-01 4.05192818e-01 1.00254206e-04] yaw=169.8deg [env.py: 1019] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:04:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.0ms, total=175.0ms [env.py: 1075] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.307, 0.000) [env.py: 1079] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.4 deg [env.py: 1082] +05/11 14:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m [env.py: 1086] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:04:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:04:16 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 14:04:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 14:04:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:04:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:04:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:04:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.215s, found feasible grasp: False [grasp_sample.py: 500] +05/11 14:04:19 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 14:04:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:04:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:04:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:04:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:04:21 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 14:04:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:04:21 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 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083811m [env.py: 870] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:04:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00695301 0.98987394 0.08381131] yaw=-143.7deg [env.py: 1019] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09204014 0.96867842 0.08381131] yaw=-139.7deg [env.py: 1019] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.63908502 0.29873902 0.08381131] yaw=160.8deg [env.py: 1019] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:04:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=343.8ms, total=343.8ms [env.py: 1075] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 0.990, 0.084) [env.py: 1079] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg [env.py: 1082] +05/11 14:04:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:04:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:04:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:04:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 14:04:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 14:04:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:04:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:04:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:04:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.083s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:04:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 84.242[deg] [grasp_sample.py: 539] +05/11 14:04:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:04:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:04:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:04:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:04:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:04:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:04:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:04:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:04:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.42s (batch: 4.00s, save: 12.42s) [pipeline.py: 300] +05/11 14:04:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:04:57 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.58s: + episode_total: mean=182.15s, total=182.15s, count=1, min=182151.9ms, max=182151.9ms + sensor_polling: mean=412.9ms, total=123.87s, count=300, min=323.6ms, max=794.3ms + save_trajectories: mean=12.42s, total=12.42s, count=1, min=12415.3ms, max=12415.3ms + physics_step: mean=27.3ms, total=8.18s, count=300, min=17.4ms, max=83.0ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.3ms, max=4003.3ms + task_sampling: mean=578.9ms, total=578.9ms, count=1, min=578.9ms, max=578.9ms + task_specific_sample: mean=574.7ms, total=574.7ms, count=1, min=574.7ms, max=574.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=529.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:04:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:04:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:04:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:04:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:04:59 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 14:04:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:04:59 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 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083791m [env.py: 870] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:04:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87530869 0.64553736 0.08379137] yaw=-163.2deg [env.py: 1019] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68315831 0.12157035 0.08379137] yaw=154.1deg [env.py: 1019] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04869464 0.93292252 0.08379137] yaw=-138.6deg [env.py: 1019] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:04:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=150.5ms, total=150.5ms [env.py: 1075] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.646, 0.084) [env.py: 1079] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg [env.py: 1082] +05/11 14:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:04:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:04:59 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 14:04:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/11 14:04:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:04:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:04:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:05:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:05:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 96.540[deg] [grasp_sample.py: 539] +05/11 14:05:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:05:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:05:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:05:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:05:04 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:05:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:05:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:05:29 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:05:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:05:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:05:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:05:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:05:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:05:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.10s (batch: 3.31s, save: 10.78s) [pipeline.py: 300] +05/11 14:05:44 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.04s: + episode_total: mean=90.18s, total=180.35s, count=2, min=2623.7ms, max=177726.8ms + sensor_polling: mean=410.3ms, total=123.10s, count=300, min=321.3ms, max=921.1ms + save_trajectories: mean=10.78s, total=10.78s, count=1, min=10782.7ms, max=10782.7ms + physics_step: mean=29.5ms, total=8.85s, count=300, min=17.1ms, max=102.7ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3313.8ms, max=3313.8ms + task_sampling: mean=520.1ms, total=1.04s, count=2, min=506.5ms, max=533.6ms + task_specific_sample: mean=516.7ms, total=1.03s, count=2, min=503.5ms, max=529.9ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.4ms + mj_forward_sync: mean=457.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:05:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:05:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:05:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:05:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:05:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:05:45 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 14:05:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:05:45 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 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005988m [env.py: 870] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:05:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73656251 0.05194791 0.00598786] yaw=148.2deg [env.py: 1019] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87345227 0.79495833 0.00598786] yaw=-156.8deg [env.py: 1019] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99382443 0.90319759 0.00598786] yaw=-159.6deg [env.py: 1019] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:05:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=348.3ms, total=348.4ms [env.py: 1075] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.052, 0.006) [env.py: 1079] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.2 deg [env.py: 1082] +05/11 14:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:05:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:05:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 14:05:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 14:05:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:05:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:05:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:05:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:05:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.090s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:05:50 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.647[m] 95.913[deg] [grasp_sample.py: 539] +05/11 14:05:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:05:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:05:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:05:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:05:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:05:53 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 14:05:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:05:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071065m [env.py: 870] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:05:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79242414 0.42646806 0.07106457] yaw=167.3deg [env.py: 1019] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99120721 1.17828202 0.07106457] yaw=-146.0deg [env.py: 1019] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69407419 0.09180353 0.07106457] yaw=167.5deg [env.py: 1019] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:05:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.1ms, total=237.2ms [env.py: 1075] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.426, 0.071) [env.py: 1079] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg [env.py: 1082] +05/11 14:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:05:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:05:54 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 14:05:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/11 14:05:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:05:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:05:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:05:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:05:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.509[m] 98.843[deg] [grasp_sample.py: 539] +05/11 14:05:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:05:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:05:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:05:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:06:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:06:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:06:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:06:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:06:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:06:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:06:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:06:46 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:06:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:06:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:07:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:07:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:07:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:07:20 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:07:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:07:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:07:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.26s (batch: 3.97s, save: 12.29s) [pipeline.py: 300] +05/11 14:07:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.15s: + episode_total: mean=96.09s, total=192.19s, count=2, min=2905.5ms, max=189283.6ms + sensor_polling: mean=413.0ms, total=123.90s, count=300, min=321.4ms, max=636.7ms + save_trajectories: mean=12.29s, total=12.29s, count=1, min=12293.3ms, max=12293.3ms + physics_step: mean=27.9ms, total=8.36s, count=300, min=19.9ms, max=105.2ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3966.2ms, max=3966.2ms + task_sampling: mean=575.3ms, total=1.15s, count=2, min=524.0ms, max=626.5ms + task_specific_sample: mean=571.8ms, total=1.14s, count=2, min=520.2ms, max=623.4ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms + mj_forward_sync: mean=471.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=22.8us, 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 14:07:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:07:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:07:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:07:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:07:32 INFO: [Worker 0] [OPEN] sorted 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 14:07:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:07:32 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 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008719m [env.py: 870] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:07:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78545972 0.96289843 0.00871895] yaw=-157.7deg [env.py: 1019] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77999229 0.71807223 0.00871895] yaw=-168.0deg [env.py: 1019] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.840061 0.87726395 0.00871895] yaw=-163.7deg [env.py: 1019] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:07:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.8ms, total=171.8ms [env.py: 1075] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.963, 0.009) [env.py: 1079] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg [env.py: 1082] +05/11 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:07:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:07:33 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 14:07:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 14:07:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:07:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:07:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:07:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.796s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:07:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.644[m] 96.582[deg] [grasp_sample.py: 539] +05/11 14:07:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:07:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:07:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:07:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:07:50 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:07:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:07:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:07:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:08:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:08:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:08:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:08:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:08:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:08:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:08:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.13s (batch: 4.41s, save: 12.72s) [pipeline.py: 300] +05/11 14:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.121s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 14:08:08 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s: + episode_total: mean=189.39s, total=189.39s, count=1, min=189390.3ms, max=189390.3ms + sensor_polling: mean=425.3ms, total=127.59s, count=300, min=345.3ms, max=720.9ms + save_trajectories: mean=12.72s, total=12.72s, count=1, min=12720.0ms, max=12720.0ms + physics_step: mean=28.2ms, total=8.46s, count=300, min=17.6ms, max=95.0ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4408.1ms, max=4408.1ms + task_sampling: mean=494.7ms, total=494.7ms, count=1, min=494.7ms, max=494.7ms + task_specific_sample: mean=491.0ms, total=491.0ms, count=1, min=491.0ms, max=491.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=459.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:08:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.028s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:08:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.213[deg] [grasp_sample.py: 539] +05/11 14:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:08:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:08:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:08:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:08:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:08:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:08:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:08:10 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 14:08:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:08:10 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 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027664m [env.py: 870] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:08:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85812936 0.33530455 0.02766418] yaw=166.0deg [env.py: 1019] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0467284 1.08458673 0.02766418] yaw=-132.7deg [env.py: 1019] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73607508 0.12664233 0.02766418] yaw=156.3deg [env.py: 1019] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:08:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=186.1ms, total=186.2ms [env.py: 1075] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 0.335, 0.028) [env.py: 1079] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg [env.py: 1082] +05/11 14:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:08:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:08:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 14:08:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.213s [base_object_manipulation_planner_policy.py: 377] +05/11 14:08:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:08:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:08:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:08:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.428s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:08:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 99.335[deg] [grasp_sample.py: 539] +05/11 14:08:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:08:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:08:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:08:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:08:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:08:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:08:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:08:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:08:42 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:08:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:08:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:08:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:09:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:09:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:09:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:09:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:09:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:09:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:09:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:09:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.01s (batch: 3.96s, save: 13.05s) [pipeline.py: 300] +05/11 14:09:26 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.15s: + episode_total: mean=109.79s, total=219.57s, count=2, min=6525.6ms, max=213048.3ms + sensor_polling: mean=435.9ms, total=130.76s, count=300, min=344.9ms, max=894.6ms + save_trajectories: mean=13.05s, total=13.05s, count=1, min=13053.9ms, max=13053.9ms + physics_step: mean=28.1ms, total=8.44s, count=300, min=17.6ms, max=77.0ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3955.5ms, max=3955.5ms + task_sampling: mean=575.5ms, total=1.15s, count=2, min=513.6ms, max=637.3ms + task_specific_sample: mean=571.4ms, total=1.14s, count=2, min=510.3ms, max=632.4ms + scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=1.2ms, max=3.5ms + mj_forward_sync: mean=559.8us, total=1.1ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=14.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:09:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:09:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:09:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:09:28 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 14:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:09:28 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 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096286m [env.py: 870] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97589469 1.28976375 0.09628573] yaw=-133.5deg [env.py: 1019] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73707272 0.13576901 0.09628573] yaw=149.8deg [env.py: 1019] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=266.3ms, total=266.3ms [env.py: 1075] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 1.290, 0.096) [env.py: 1079] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.5 deg [env.py: 1082] +05/11 14:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:09:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:09:28 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 14:09:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/11 14:09:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:09:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:09:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.670s, found feasible grasp: False [grasp_sample.py: 500] +05/11 14:09:31 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 14:09:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:09:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:09:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:09:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:09:33 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 14:09:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:09:33 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 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063902m [env.py: 870] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:09:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94692727 0.88957428 0.0639018 ] yaw=-150.0deg [env.py: 1019] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7550792 0.22858409 0.0639018 ] yaw=165.0deg [env.py: 1019] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78837015 0.80514355 0.0639018 ] yaw=-168.7deg [env.py: 1019] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:09:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.3ms, total=119.3ms [env.py: 1075] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.890, 0.064) [env.py: 1079] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg [env.py: 1082] +05/11 14:09:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:09:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:09:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:09:33 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 14:09:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/11 14:09:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:09:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:09:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:09:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:09:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.416[m] 84.528[deg] [grasp_sample.py: 539] +05/11 14:09:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:09:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:09:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:09:59 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:10:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:10:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:10:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:10:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:10:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:10:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:10:38 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:10:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:10:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:10:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.89s (batch: 4.28s, save: 12.61s) [pipeline.py: 300] +05/11 14:10:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.49s: + episode_total: mean=197.91s, total=197.91s, count=1, min=197913.6ms, max=197913.6ms + sensor_polling: mean=436.3ms, total=130.89s, count=300, min=342.3ms, max=793.5ms + save_trajectories: mean=12.61s, total=12.61s, count=1, min=12607.9ms, max=12607.9ms + physics_step: mean=28.2ms, total=8.46s, count=300, min=21.6ms, max=94.1ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4280.8ms, max=4280.8ms + task_sampling: mean=487.2ms, total=487.2ms, count=1, min=487.2ms, max=487.2ms + task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=467.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.6us, 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 14:10:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:10:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:10:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:10:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:10:52 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 14:10:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:10:52 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 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065985m [env.py: 870] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:10:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8233767 0.6560231 0.06598506] yaw=-166.5deg [env.py: 1019] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90682526 1.18967589 0.06598506] yaw=-136.2deg [env.py: 1019] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88723595 0.93373332 0.06598506] yaw=-145.2deg [env.py: 1019] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:10:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.2ms, retries=205.3ms, total=205.4ms [env.py: 1075] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.656, 0.066) [env.py: 1079] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg [env.py: 1082] +05/11 14:10:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:10:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:10:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:10:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 14:10:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/11 14:10:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:10:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:10:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:10:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:10:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.437[m] 85.843[deg] [grasp_sample.py: 539] +05/11 14:10:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:10:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:10:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:11:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:11:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:11:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:11:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:11:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:11:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.55s (batch: 4.04s, save: 11.51s) [pipeline.py: 300] +05/11 14:11:23 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.55s: + episode_total: mean=193.01s, total=193.01s, count=1, min=193009.9ms, max=193009.9ms + sensor_polling: mean=435.6ms, total=130.69s, count=300, min=348.8ms, max=806.8ms + save_trajectories: mean=11.51s, total=11.51s, count=1, min=11507.2ms, max=11507.2ms + physics_step: mean=30.5ms, total=9.14s, count=300, min=20.3ms, max=91.5ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4041.0ms, max=4041.0ms + task_sampling: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms + task_specific_sample: mean=545.8ms, total=545.8ms, count=1, min=545.8ms, max=545.8ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=569.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=23.7us, 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 14:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:11:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:11:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:11:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:11:25 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 14:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066513m [env.py: 870] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76164962 0.73886595 0.06651286] yaw=-158.2deg [env.py: 1019] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93679321 0.70210187 0.06651286] yaw=-159.4deg [env.py: 1019] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=273.9ms, total=273.9ms [env.py: 1075] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.739, 0.067) [env.py: 1079] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.2 deg [env.py: 1082] +05/11 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:11:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:11:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 14:11:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 14:11:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:11:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:11:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:11:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.101s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:11:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.557[m] 90.062[deg] [grasp_sample.py: 539] +05/11 14:11:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:11:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:11:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:11:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:11:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:11:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:11:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:11:53 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:12:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:12:20 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:12:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:12:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:12:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:12:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:12:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:12:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:12:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.24s (batch: 3.64s, save: 11.60s) [pipeline.py: 300] +05/11 14:12:35 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.00s: + episode_total: mean=93.04s, total=186.08s, count=2, min=3490.1ms, max=182588.1ms + sensor_polling: mean=422.7ms, total=126.82s, count=300, min=319.5ms, max=837.3ms + save_trajectories: mean=11.60s, total=11.60s, count=1, min=11603.6ms, max=11603.6ms + physics_step: mean=27.9ms, total=8.38s, count=300, min=19.8ms, max=75.9ms + save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3635.4ms, max=3635.4ms + task_sampling: mean=500.4ms, total=1.00s, count=2, min=380.0ms, max=620.9ms + task_specific_sample: mean=496.8ms, total=993.6ms, count=2, min=377.1ms, max=616.6ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms + mj_forward_sync: mean=537.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:12:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:12:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:12:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:12:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:12:37 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 14:12:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:12:37 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 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045435m [env.py: 870] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:12:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8045291 0.37344408 0.04543543] yaw=172.8deg [env.py: 1019] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62930242 0.38467151 0.04543543] yaw=182.1deg [env.py: 1019] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02583753 0.88806814 0.04543543] yaw=-147.2deg [env.py: 1019] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:12:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.8ms [env.py: 1075] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.373, 0.045) [env.py: 1079] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg [env.py: 1082] +05/11 14:12:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m [env.py: 1086] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:12:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:12:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:12:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 14:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/11 14:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:12:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:12:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:12:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 79.970[deg] [grasp_sample.py: 539] +05/11 14:12:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:12:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:12:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:12:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:13:10 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:13:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:13:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:13:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:13:39 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:13:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:13:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:13:44 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:13:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:13:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:13:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.21s (batch: 4.34s, save: 12.86s) [pipeline.py: 300] +05/11 14:13:58 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.53s: + episode_total: mean=186.15s, total=186.15s, count=1, min=186153.8ms, max=186153.8ms + sensor_polling: mean=413.8ms, total=124.14s, count=300, min=320.5ms, max=743.6ms + save_trajectories: mean=12.86s, total=12.86s, count=1, min=12864.0ms, max=12864.0ms + physics_step: mean=27.7ms, total=8.30s, count=300, min=18.7ms, max=86.9ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4343.3ms, max=4343.3ms + task_sampling: mean=531.1ms, total=531.1ms, count=1, min=531.1ms, max=531.1ms + task_specific_sample: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=519.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:13:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:13:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:13:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:13:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:13:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:13:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:13:59 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 14:13:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:13:59 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 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006948m [env.py: 870] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:13:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84265426 0.70027922 0.00694769] yaw=-177.2deg [env.py: 1019] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8382169 1.04644936 0.00694769] yaw=-138.3deg [env.py: 1019] +05/11 14:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.66643228 0.73874173 0.00694769] yaw=-165.2deg [env.py: 1019] +05/11 14:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:14:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.0ms, total=192.0ms [env.py: 1075] +05/11 14:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.700, 0.007) [env.py: 1079] +05/11 14:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg [env.py: 1082] +05/11 14:14:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/11 14:14:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:14:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:14:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:14:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:14:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:14:00 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 14:14:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/11 14:14:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:14:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:14:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:14:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.798s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:14:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.680[deg] [grasp_sample.py: 539] +05/11 14:14:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:14:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:14:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:14:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:14:13 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:14:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:14:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:14:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:14:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:14:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.83s (batch: 3.90s, save: 12.93s) [pipeline.py: 300] +05/11 14:14:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.65s: + episode_total: mean=185.91s, total=185.91s, count=1, min=185905.1ms, max=185905.1ms + sensor_polling: mean=418.4ms, total=125.52s, count=300, min=313.2ms, max=950.1ms + save_trajectories: mean=12.93s, total=12.93s, count=1, min=12933.1ms, max=12933.1ms + physics_step: mean=27.6ms, total=8.29s, count=300, min=20.2ms, max=76.0ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.8ms, max=3896.8ms + task_sampling: mean=647.5ms, total=647.5ms, count=1, min=647.5ms, max=647.5ms + task_specific_sample: mean=643.3ms, total=643.3ms, count=1, min=643.3ms, max=643.3ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=566.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:14:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:14:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:14:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:14:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:14:32 INFO: [Worker 0] [OPEN] sorted 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 14:14:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:14:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052360m [env.py: 870] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:14:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9620237 0.18002855 0.05236033] yaw=146.8deg [env.py: 1019] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94133337 0.34276206 0.05236033] yaw=170.4deg [env.py: 1019] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95267214 0.19588543 0.05236033] yaw=158.1deg [env.py: 1019] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:14:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=519.2ms, total=519.3ms [env.py: 1075] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.180, 0.052) [env.py: 1079] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.8 deg [env.py: 1082] +05/11 14:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:14:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:14:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:14:33 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 14:14:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/11 14:14:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:14:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:14:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:14:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.696s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:14:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.368[m] 92.352[deg] [grasp_sample.py: 539] +05/11 14:14:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:14:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:14:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:14:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:14:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:14:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:14:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:15:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:15:10 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:15:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:15:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:15:45 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:15:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:15:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:16:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:16:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:16:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.38s (batch: 3.56s, save: 11.81s) [pipeline.py: 300] +05/11 14:16:01 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.52s: + episode_total: mean=203.94s, total=203.94s, count=1, min=203936.8ms, max=203936.8ms + sensor_polling: mean=434.7ms, total=130.41s, count=300, min=314.1ms, max=855.4ms + save_trajectories: mean=11.81s, total=11.81s, count=1, min=11814.9ms, max=11814.9ms + physics_step: mean=30.4ms, total=9.11s, count=300, min=18.0ms, max=78.0ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3564.7ms, max=3564.7ms + task_sampling: mean=519.6ms, total=519.6ms, count=1, min=519.6ms, max=519.6ms + task_specific_sample: mean=515.8ms, total=515.8ms, count=1, min=515.8ms, max=515.8ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=468.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:16:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:16:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:16:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:16:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:16:03 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 14:16:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:16:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029330m [env.py: 870] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:16:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01923322 1.23167212 0.02932989] yaw=-132.7deg [env.py: 1019] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86850071 1.08860554 0.02932989] yaw=-133.6deg [env.py: 1019] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83938001 0.36111118 0.02932989] yaw=173.7deg [env.py: 1019] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:16:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=280.9ms, total=281.0ms [env.py: 1075] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.019, 1.232, 0.029) [env.py: 1079] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg [env.py: 1082] +05/11 14:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:16:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:16:03 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 14:16:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/11 14:16:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:16:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:16:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:16:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.793s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:16:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 95.345[deg] [grasp_sample.py: 539] +05/11 14:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:08 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:16:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:16:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:16:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:16:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:16:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:16:09 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 14:16:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:16:09 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 14:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008106m [env.py: 870] +05/11 14:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:16:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79501124 0.63209001 0.00810566] yaw=-169.5deg [env.py: 1019] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:16:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=515.8ms, total=515.9ms [env.py: 1075] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.632, 0.008) [env.py: 1079] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg [env.py: 1082] +05/11 14:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/11 14:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:16:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:16:10 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 14:16:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 14:16:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:16:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:16:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:16:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.877s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:16:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 89.895[deg] [grasp_sample.py: 539] +05/11 14:16:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:16:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:16:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:16:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:16:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:16:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:16:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:16:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:16:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 14:16:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.930s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:16:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.150[deg] [grasp_sample.py: 539] +05/11 14:16:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:16:23 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:16:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:16:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:16:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:16:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:16:25 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 14:16:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:16:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051537m [env.py: 870] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:16:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.20198299 1.08256669 0.05153667] yaw=-129.8deg [env.py: 1019] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15036351 1.10524214 0.05153667] yaw=-122.6deg [env.py: 1019] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86615853 0.47493745 0.05153667] yaw=188.2deg [env.py: 1019] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:16:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.8ms, total=359.8ms [env.py: 1075] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.202, 1.083, 0.052) [env.py: 1079] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg [env.py: 1082] +05/11 14:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m [env.py: 1086] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:16:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:16:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:16:25 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 14:16:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/11 14:16:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:16:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:16:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:16:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.933s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:16:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 88.726[deg] [grasp_sample.py: 539] +05/11 14:16:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:16:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:16:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:16:51 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:16:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:16:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:16:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:16:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:17:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:17:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:17:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:17:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:17:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:17:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 17.12s (batch: 4.42s, save: 12.70s) [pipeline.py: 300] +05/11 14:17:09 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.55s: + episode_total: mean=189.81s, total=189.81s, count=1, min=189807.5ms, max=189807.5ms + sensor_polling: mean=431.5ms, total=129.46s, count=300, min=342.0ms, max=726.1ms + save_trajectories: mean=12.70s, total=12.70s, count=1, min=12698.7ms, max=12698.7ms + physics_step: mean=28.1ms, total=8.44s, count=300, min=18.5ms, max=83.6ms + save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4424.9ms, max=4424.9ms + task_sampling: mean=550.4ms, total=550.4ms, count=1, min=550.4ms, max=550.4ms + task_specific_sample: mean=546.1ms, total=546.1ms, count=1, min=546.1ms, max=546.1ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=574.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.6us, 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 14:17:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:17:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:17:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:17:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:17:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:17:11 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 14:17:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:17:11 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 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035525m [env.py: 870] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:17:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94865539 0.29682109 0.03552506] yaw=167.4deg [env.py: 1019] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97610295 1.22807601 0.03552506] yaw=-124.3deg [env.py: 1019] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.72679145 0.20568747 0.03552506] yaw=175.6deg [env.py: 1019] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:17:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.5ms, total=313.5ms [env.py: 1075] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.297, 0.036) [env.py: 1079] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.4 deg [env.py: 1082] +05/11 14:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m [env.py: 1086] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:17:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:17:11 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 14:17:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/11 14:17:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:17:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:17:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:17:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.460s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:17:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.351[m] 86.320[deg] [grasp_sample.py: 539] +05/11 14:17:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:17:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:17:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:17:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:17:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:17:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:18:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:18:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:18:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:18:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 14:18:30 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:32 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:18:32 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.263[deg] [grasp_sample.py: 539] +05/11 14:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:34 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:18:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:18:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:18:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:18:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:18:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:18:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025414m [env.py: 870] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:18:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00619504 1.14176086 0.02541408] yaw=-140.0deg [env.py: 1019] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00402334 0.85571937 0.02541408] yaw=-149.6deg [env.py: 1019] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:18:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=315.6ms, total=315.6ms [env.py: 1075] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 1.142, 0.025) [env.py: 1079] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg [env.py: 1082] +05/11 14:18:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:18:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:18:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:18:36 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 14:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/11 14:18:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:18:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:18:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.392s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:18:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 80.879[deg] [grasp_sample.py: 539] +05/11 14:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:39 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:18:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:18:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:18:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:18:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:18:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:18:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080989m [env.py: 870] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96267341 0.35391089 0.08098866] yaw=177.5deg [env.py: 1019] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97250477 0.7537748 0.08098866] yaw=-157.3deg [env.py: 1019] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9239651 0.51822087 0.08098866] yaw=-172.9deg [env.py: 1019] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.9ms, total=296.0ms [env.py: 1075] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.963, 0.354, 0.081) [env.py: 1079] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg [env.py: 1082] +05/11 14:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m [env.py: 1086] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:18:41 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 14:18:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 14:18:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:18:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:18:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:18:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:18:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.311[m] 88.495[deg] [grasp_sample.py: 539] +05/11 14:18:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:18:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:18:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:18:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:18:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:18:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:18:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:18:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 14:18:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.580s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:18:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.144[deg] [grasp_sample.py: 539] +05/11 14:18:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:18:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:18:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:18:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:19:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:19:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:19:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:19:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:19:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:19:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:19:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:19:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 14.59s (batch: 3.36s, save: 11.23s) [pipeline.py: 300] +05/11 14:19:15 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.40s: + episode_total: mean=95.36s, total=190.72s, count=2, min=5139.2ms, max=185580.9ms + sensor_polling: mean=423.3ms, total=127.00s, count=300, min=334.8ms, max=792.6ms + save_trajectories: mean=11.23s, total=11.23s, count=1, min=11225.8ms, max=11225.8ms + physics_step: mean=27.8ms, total=8.35s, count=300, min=21.5ms, max=81.5ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3362.9ms, max=3362.9ms + task_sampling: mean=699.9ms, total=1.40s, count=2, min=634.7ms, max=765.2ms + task_specific_sample: mean=696.1ms, total=1.39s, count=2, min=630.1ms, max=762.1ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=3.0ms + mj_forward_sync: mean=539.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:19:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:19:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:19:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:19:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:19:16 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 14:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049534m [env.py: 870] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96958756 0.98557867 0.04953429] yaw=-143.2deg [env.py: 1019] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85736661 0.97685318 0.04953429] yaw=-158.0deg [env.py: 1019] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:19:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92635983 0.12166272 0.04953429] yaw=150.3deg [env.py: 1019] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:19:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.8ms, total=152.8ms [env.py: 1075] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.986, 0.050) [env.py: 1079] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg [env.py: 1082] +05/11 14:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:19:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:19:17 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 14:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s [base_object_manipulation_planner_policy.py: 377] +05/11 14:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.127s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:19:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.894s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:19:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 81.127[deg] [grasp_sample.py: 539] +05/11 14:19:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:19:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:19:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:19:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:19:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:19:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:19:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:19:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 74 non-colliding grasps [grasp_sample.py: 465] +05/11 14:19:40 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.803s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:19:40 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.765[deg] [grasp_sample.py: 539] +05/11 14:19:42 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:19:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:19:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:19:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:19:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:19:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:19:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:19:44 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 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067936m [env.py: 870] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:19:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84018799 0.74843929 0.06793584] yaw=-170.9deg [env.py: 1019] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95055005 0.99182375 0.06793584] yaw=-138.4deg [env.py: 1019] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83553872 0.0862741 0.06793584] yaw=146.0deg [env.py: 1019] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:19:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.1ms, total=153.2ms [env.py: 1075] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.748, 0.068) [env.py: 1079] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg [env.py: 1082] +05/11 14:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:19:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:19:44 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 14:19:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/11 14:19:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:19:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:19:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:19:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:19:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 90.082[deg] [grasp_sample.py: 539] +05/11 14:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:19:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:19:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 14:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 14:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 14:20:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 14:20:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 14:20:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:20:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:20:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 14:20:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.469s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:20:01 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.543[deg] [grasp_sample.py: 539] +05/11 14:20:03 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:20:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:20:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:20:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:20:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:20:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:20:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 14:20:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:20:04 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 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023392m [env.py: 870] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:20:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67562653 0.36972309 0.0233924 ] yaw=181.5deg [env.py: 1019] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01625022 1.00416494 0.0233924 ] yaw=-135.2deg [env.py: 1019] +05/11 14:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:20:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=345.6ms, total=345.6ms [env.py: 1075] +05/11 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.676, 0.370, 0.023) [env.py: 1079] +05/11 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.5 deg [env.py: 1082] +05/11 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/11 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:20:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:20:05 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 14:20:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 14:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:20:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.715s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:20:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 82.755[deg] [grasp_sample.py: 539] +05/11 14:20:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:20:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:20:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:20:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:20:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:20:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:20:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:20:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:21:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:21:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:21:33 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:22:04 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:22:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 14:22:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:22:09 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:22:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:22:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:22:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.47s (batch: 3.61s, save: 11.85s) [pipeline.py: 300] +05/11 14:22:20 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.53s: + episode_total: mean=184.18s, total=184.18s, count=1, min=184182.2ms, max=184182.2ms + sensor_polling: mean=409.1ms, total=122.74s, count=300, min=317.8ms, max=800.0ms + save_trajectories: mean=11.85s, total=11.85s, count=1, min=11853.3ms, max=11853.3ms + physics_step: mean=27.8ms, total=8.34s, count=300, min=21.3ms, max=73.2ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3613.4ms, max=3613.4ms + task_sampling: mean=530.3ms, total=530.3ms, count=1, min=530.3ms, max=530.3ms + task_specific_sample: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=577.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:22:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:22:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:22:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:22:22 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 14:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:22:22 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 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082530m [env.py: 870] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86771671 1.10155003 0.08252957] yaw=-135.7deg [env.py: 1019] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6803547 0.344932 0.08252957] yaw=162.5deg [env.py: 1019] +05/11 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=475.7ms, total=475.8ms [env.py: 1075] +05/11 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 1.102, 0.083) [env.py: 1079] +05/11 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg [env.py: 1082] +05/11 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/11 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:22:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:22:23 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 14:22:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 14:22:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:22:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:22:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:22:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.710s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:22:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.596[m] 85.782[deg] [grasp_sample.py: 539] +05/11 14:22:28 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:22:28 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:22:29 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234] +05/11 14:22:29 WARNING: [Worker 0] No trajectory data to save for chunk_101 [pipeline.py: 234] +05/11 14:22:29 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes [pipeline.py: 1323] +05/11 14:22:29 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=3927.17s + House averages: + episode_total: mean=121.86s, total=2193.40s, count=18, min=2492.4ms, max=227829.7ms + sensor_polling: mean=422.7ms, total=1442.16s, count=3412, min=314.1ms, max=1520.9ms + save_trajectories: mean=11.99s, total=119.94s, count=10, min=10176.6ms, max=14582.5ms + physics_step: mean=28.4ms, total=96.85s, count=3412, min=17.1ms, max=151.4ms + save_batch_prep: mean=3.93s, total=39.25s, count=10, min=3313.8ms, max=5083.4ms + task_sampling: mean=830.1ms, total=14.94s, count=18, min=380.0ms, max=4668.9ms + task_specific_sample: mean=602.2ms, total=10.84s, count=18, min=377.1ms, max=1273.3ms + scene_load: mean=4.03s, total=4.03s, count=1, min=4032.2ms, max=4032.2ms + scene_env_create: mean=2.24s, total=2.24s, count=1, min=2239.6ms, max=2239.6ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1490.1ms, max=1490.1ms + compile_mujoco: mean=874.2ms, total=874.2ms, count=1, min=874.2ms, max=874.2ms + compile_xml_load: mean=511.3ms, total=511.3ms, count=1, min=511.3ms, max=511.3ms + scene_init: mean=180.3ms, total=180.3ms, count=1, min=180.3ms, max=180.3ms + scene_asset_install: mean=121.8ms, total=121.8ms, count=1, min=121.8ms, max=121.8ms + asset_install_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms + compile_aux_objects: mean=70.5ms, total=70.5ms, count=1, min=70.5ms, max=70.5ms + compile_aux_policy_objects: mean=70.5ms, total=70.5ms, count=1, min=70.5ms, max=70.5ms + asset_install_grasps: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms + scene_randomize: mean=2.1ms, total=38.1ms, count=18, min=1.1ms, max=3.5ms + compile_robot_add: mean=25.0ms, total=25.0ms, count=1, min=25.0ms, max=25.0ms + mj_forward_sync: mean=658.4us, total=11.9ms, count=18, min=0.5ms, max=2.5ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=19.7us, 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 14:22:29 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 14:22:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3927.17s + Worker averages: + episode_total: mean=121.86s, total=2193.40s, count=18, min=2492.4ms, max=227829.7ms + sensor_polling: mean=422.7ms, total=1442.16s, count=3412, min=314.1ms, max=1520.9ms + save_trajectories: mean=11.99s, total=119.94s, count=10, min=10176.6ms, max=14582.5ms + physics_step: mean=28.4ms, total=96.85s, count=3412, min=17.1ms, max=151.4ms + save_batch_prep: mean=3.93s, total=39.25s, count=10, min=3313.8ms, max=5083.4ms + task_sampling: mean=830.1ms, total=14.94s, count=18, min=380.0ms, max=4668.9ms + task_specific_sample: mean=602.2ms, total=10.84s, count=18, min=377.1ms, max=1273.3ms + scene_load: mean=4.03s, total=4.03s, count=1, min=4032.2ms, max=4032.2ms + scene_env_create: mean=2.24s, total=2.24s, count=1, min=2239.6ms, max=2239.6ms + scene_compile: mean=1.49s, total=1.49s, count=1, min=1490.1ms, max=1490.1ms + compile_mujoco: mean=874.2ms, total=874.2ms, count=1, min=874.2ms, max=874.2ms + compile_xml_load: mean=511.3ms, total=511.3ms, count=1, min=511.3ms, max=511.3ms + scene_init: mean=180.3ms, total=180.3ms, count=1, min=180.3ms, max=180.3ms + scene_asset_install: mean=121.8ms, total=121.8ms, count=1, min=121.8ms, max=121.8ms + asset_install_objects: mean=71.7ms, total=71.7ms, count=1, min=71.7ms, max=71.7ms + compile_aux_objects: mean=70.5ms, total=70.5ms, count=1, min=70.5ms, max=70.5ms + compile_aux_policy_objects: mean=70.5ms, total=70.5ms, count=1, min=70.5ms, max=70.5ms + asset_install_grasps: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms + scene_randomize: mean=2.1ms, total=38.1ms, count=18, min=1.1ms, max=3.5ms + compile_robot_add: mean=25.0ms, total=25.0ms, count=1, min=25.0ms, max=25.0ms + mj_forward_sync: mean=658.4us, total=11.9ms, count=18, min=0.5ms, max=2.5ms + asset_install_scene: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + policy_setup: mean=19.7us, 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 14:22:32 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 14:22:32 INFO: Success count: 10, Total count: 10 [pipeline.py: 1491] +05/11 14:22:32 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 14:22:42 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:22:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:22:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:22:55 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:22:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:22:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:22:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:22:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:22:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.32s (batch: 4.50s, save: 11.82s) [pipeline.py: 300] +05/11 14:22:59 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.15s: + episode_total: mean=173.40s, total=346.79s, count=2, min=151002.5ms, max=195791.4ms + sensor_polling: mean=433.6ms, total=228.95s, count=528, min=317.8ms, max=975.8ms + physics_step: mean=28.3ms, total=14.94s, count=528, min=15.4ms, max=93.4ms + save_trajectories: mean=11.82s, total=11.82s, count=1, min=11818.5ms, max=11818.5ms + save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4503.9ms, max=4503.9ms + task_sampling: mean=573.0ms, total=1.15s, count=2, min=480.7ms, max=665.4ms + task_specific_sample: mean=567.2ms, total=1.13s, count=2, min=477.0ms, max=657.5ms + scene_randomize: mean=3.9ms, total=7.9ms, count=2, min=1.6ms, max=6.2ms + mj_forward_sync: mean=554.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=32.0us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 14:23:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:23:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:23:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:23:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:23:01 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 14:23:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:23:01 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 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089572m [env.py: 870] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:23:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88813825 0.73853874 0.08957188] yaw=-159.7deg [env.py: 1019] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08577931 1.14877332 0.08957188] yaw=-127.3deg [env.py: 1019] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77340871 0.77540715 0.08957188] yaw=-153.2deg [env.py: 1019] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:23:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=406.0ms, total=406.1ms [env.py: 1075] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.739, 0.090) [env.py: 1079] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg [env.py: 1082] +05/11 14:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:23:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:23:02 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 14:23:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 14:23:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:23:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:23:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:23:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.186s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:23:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.414[m] 81.673[deg] [grasp_sample.py: 539] +05/11 14:23:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:23:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:23:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:23:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:23:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:23:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 15.49s (batch: 3.46s, save: 12.03s) [pipeline.py: 300] +05/11 14:23:11 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=3.39s: + episode_total: mean=102.57s, total=512.84s, count=5, min=3741.5ms, max=186656.7ms + sensor_polling: mean=432.2ms, total=377.30s, count=873, min=328.9ms, max=1008.5ms + physics_step: mean=28.7ms, total=25.02s, count=873, min=20.6ms, max=113.7ms + save_trajectories: mean=12.03s, total=12.03s, count=1, min=12031.3ms, max=12031.3ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3456.7ms, max=3456.7ms + task_sampling: mean=677.0ms, total=3.39s, count=5, min=573.4ms, max=833.8ms + task_specific_sample: mean=673.5ms, total=3.37s, count=5, min=570.1ms, max=829.5ms + scene_randomize: mean=1.6ms, total=8.1ms, count=5, min=1.1ms, max=2.9ms + mj_forward_sync: mean=537.8us, total=2.7ms, count=5, min=0.5ms, max=0.6ms + policy_setup: mean=14.1us, 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 14:23:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:23:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:23:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:23:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:23:12 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 14:23:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:23:12 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 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046768m [env.py: 870] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:23:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89966371 0.91977282 0.04676818] yaw=-157.7deg [env.py: 1019] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86095209 0.50209006 0.04676818] yaw=-184.6deg [env.py: 1019] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70387297 0.21816858 0.04676818] yaw=169.2deg [env.py: 1019] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.9ms, total=139.9ms [env.py: 1075] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.920, 0.047) [env.py: 1079] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg [env.py: 1082] +05/11 14:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:23:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:23:13 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 14:23:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 14:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:23:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.819s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:23:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 83.094[deg] [grasp_sample.py: 539] +05/11 14:23:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:23:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:23:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:23:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:23:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:23:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:23:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:23:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:24:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 14:25:20 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:25:32 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 14:25:50 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:25:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 14:25:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:26:01 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_101 [pipeline.py: 1174] +05/11 14:26:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_101 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 14:26:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 14:26:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:26:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:26:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.45s (batch: 3.90s, save: 12.55s) [pipeline.py: 300] +05/11 14:26:07 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.72s: + episode_total: mean=186.03s, total=186.03s, count=1, min=186027.0ms, max=186027.0ms + sensor_polling: mean=420.0ms, total=125.99s, count=300, min=348.9ms, max=823.1ms + save_trajectories: mean=12.55s, total=12.55s, count=1, min=12550.0ms, max=12550.0ms + physics_step: mean=27.1ms, total=8.12s, count=300, min=20.0ms, max=95.3ms + save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3895.2ms, max=3895.2ms + task_sampling: mean=716.4ms, total=716.4ms, count=1, min=716.4ms, max=716.4ms + task_specific_sample: mean=713.0ms, total=713.0ms, count=1, min=713.0ms, max=713.0ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=563.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=14.8us, 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 14:26:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:26:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:26:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:26:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:26:09 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 14:26:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:26:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078781m [env.py: 870] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:26:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05131777 1.20890369 0.07878092] yaw=-130.8deg [env.py: 1019] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87915122 0.31925716 0.07878092] yaw=163.6deg [env.py: 1019] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9844882 1.14679583 0.07878092] yaw=-126.6deg [env.py: 1019] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:26:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.5ms, total=255.5ms [env.py: 1075] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 1.209, 0.079) [env.py: 1079] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg [env.py: 1082] +05/11 14:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:26:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:26:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 14:26:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.191s [base_object_manipulation_planner_policy.py: 377] +05/11 14:26:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:26:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:26:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:26:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.299s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:26:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.590[m] 98.940[deg] [grasp_sample.py: 539] +05/11 14:26:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:26:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:26:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:26:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:26:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 14:26:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_101 [save_utils.py: 785] +05/11 14:26:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_101 in 16.49s (batch: 3.76s, save: 12.74s) [pipeline.py: 300] +05/11 14:26:18 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s: + episode_total: mean=185.57s, total=185.57s, count=1, min=185565.6ms, max=185565.6ms + sensor_polling: mean=422.5ms, total=126.75s, count=300, min=341.2ms, max=885.4ms + save_trajectories: mean=12.74s, total=12.74s, count=1, min=12736.3ms, max=12736.3ms + physics_step: mean=28.2ms, total=8.45s, count=300, min=17.0ms, max=97.8ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3758.4ms, max=3758.4ms + task_sampling: mean=450.9ms, total=450.9ms, count=1, min=450.9ms, max=450.9ms + task_specific_sample: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=457.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + 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 14:26:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:26:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:26:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:26:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:26:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:26:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:26:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:26:19 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 14:26:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:26:19 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 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006111m [env.py: 870] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:26:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82090308 0.93042033 0.0061112 ] yaw=-157.2deg [env.py: 1019] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88513483 0.74280513 0.0061112 ] yaw=-172.4deg [env.py: 1019] +05/11 14:26:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.670105 0.6688656 0.0061112] yaw=-158.7deg [env.py: 1019] +05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:26:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.6ms, total=246.6ms [env.py: 1075] +05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.930, 0.006) [env.py: 1079] +05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg [env.py: 1082] +05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:26:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:26:20 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 14:26:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 14:26:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:26:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:26:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:26:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.264s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:26:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.593[m] 97.724[deg] [grasp_sample.py: 539] +05/11 14:26:24 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 14:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 14:26:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 14:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:26:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 14:26:25 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 14:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 14:26:25 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 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095321m [env.py: 870] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 14:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68958411 0.37287959 0.09532064] yaw=179.8deg [env.py: 1019] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87846504 0.51854063 0.09532064] yaw=-177.0deg [env.py: 1019] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92710753 0.74356001 0.09532064] yaw=-151.4deg [env.py: 1019] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 14:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.5ms, total=84.6ms [env.py: 1075] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.690, 0.373, 0.095) [env.py: 1079] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.8 deg [env.py: 1082] +05/11 14:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 14:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 14:26:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 14:26:26 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 14:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 14:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 14:26:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 14:26:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 14:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.966s, found feasible grasp: True [grasp_sample.py: 500] +05/11 14:26:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.613[m] 92.602[deg] [grasp_sample.py: 539] +05/11 14:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 14:26:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 14:26:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:26:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 14:27:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 14:27:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 14:27:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m/sim_chunks/chunk_101/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_101/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..faf46d657fc45ec3fa68d1db002fd0309e987fb7 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_101/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f4cbb889af7dcd06f3a1512bdd4b3ca1e521f41931516adb648c908e72c7593 +size 781892949 diff --git a/fridge_m/sim_chunks/chunk_101/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_101/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3ea77cc4ee2a65963e68f9fd9eeb7f2543e64d75 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_101/trajectories_batch_2_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:528be4f93e8f913662d0943de5b751c9d7de7ddbf1d76fec71f183618c82010c +size 864675067 diff --git a/fridge_m/sim_chunks/chunk_101/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_101/trajectories_batch_3_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff6b29257f59d18b8ede005ba85c1569a17babc0 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_101/trajectories_batch_3_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27cf593fd4c666431afa41657eb11f8a9a12c3b219f7aa6d0019a61abd901edf +size 770579934 diff --git a/fridge_m/sim_chunks/chunk_101/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_101/trajectories_batch_4_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f83363d088fe8b250c2dd44c78275b32ad0dfe1e --- /dev/null +++ b/fridge_m/sim_chunks/chunk_101/trajectories_batch_4_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce26dcd23a1f6fbe72ee18f91d115d6e8d37464943e090f5486d45969d984ec2 +size 84847640